Cleaning robot and cleaning device

Abstract

A cleaning robot and a cleaning device. The cleaning robot comprises a main robot body (10), a cleaning assembly (20), and a driving assembly (30). The cleaning assembly (20) is connected to the main robot body (10), the cleaning assembly (20) can ascend and descend relative to the main robot body (10), and the cleaning assembly (20) is configured to clean a surface to be cleaned; and the driving assembly (30) is used for driving the cleaning assembly (20) to ascend and descend. According to the cleaning robot and the cleaning device, the cleaning assembly (20) can ascend and descend so as to adapt to various working conditions, thereby improving the cleaning effect.

Description

Cleaning robot and cleaning equipment

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application is based on Chinese patent application No. 202410379686.3, filed on March 29, 2024, Chinese patent application No. 202420632338.8, filed on March 29, 2024, Chinese patent application No. 202420633121.9, filed on March 29, 2024, and Chinese patent application No. 202420638399.5, filed on March 29, 2024, and claims the priority of the above four Chinese patent applications. The entire contents of the above four Chinese patent applications are hereby introduced into this application as a reference. Technical Field

[0003] The present application relates to the field of cleaning, and in particular to a cleaning robot and cleaning equipment. Background Art

[0004] In related technologies, cleaning robots move on a support surface, such as a floor, using their loaded cleaning components to contact and clean the support surface, thereby alleviating the workload of humans. However, cleaning effectiveness is limited when the support surface has stubborn stains, such as dirt, dried juice stains, or dirty water. Summary of the Invention

[0005] In view of this, the embodiments of the present application hope to provide a cleaning robot and a cleaning device, in which the cleaning components can be raised and lowered to adapt to various working conditions and improve the cleaning effect.

[0006] The present invention provides a cleaning robot comprising:

[0007] Main body;

[0008] A cleaning assembly connected to the main body, the cleaning assembly being capable of rising and falling relative to the main body, and the cleaning assembly being used to clean the surface to be cleaned;

[0009] A driving assembly is used to drive the cleaning assembly to rise and fall.

[0010] In some embodiments, the cleaning assembly is disposed below the main body, the cleaning assembly includes a frame and a cleaning member, the cleaning member is rotatably disposed on the frame, the frame is connected to the main body, and is movable in a height direction relative to the main body;

[0011] The driving component is arranged on the main body or the cleaning component, and the driving component includes a first driving part and a pressurizing part. The first driving part drives the pressurizing part to switch between a pressurized state and an avoidance state. In the pressurized state, the driving component applies pressure to the cleaning component, and the pressure has at least a downward component; in the avoidance state, the pressurizing part allows the cleaning component to float up and down relative to the main body.

[0012] In some embodiments, the driving component is arranged on the main body, the first driving part is used to drive the pressurizing part to rotate, the pressurizing part has a pressurizing surface, and the pressurizing part can adjust the height of the pressurizing surface during the rotation process; wherein, in the pressurizing state, the pressurizing surface abuts against the cleaning component to apply the pressure; in the avoidance state, the pressurizing surface is separated from the cleaning component.

[0013] In some embodiments, the rotation axis of the pressurizing portion is perpendicular to the height direction of the cleaning robot.

[0014] In some embodiments, the pressurizing portion includes a cam, and an outer peripheral surface of the cam defines the pressurizing surface.

[0015] In some embodiments, the pressurizing portion includes a crankshaft, the crankshaft includes a main journal and a connecting rod journal, the axis of the main journal and the rotation axis of the pressurizing portion are located in a straight line, and the side surface of the connecting rod journal defines the pressurizing surface.

[0016] In some embodiments, the cleaning component includes a lifting frame arranged on the frame, the connecting rod neck is passed through the bottom of the lifting frame, and the first driving part can drive the pressure part to rotate to a first preset angle position and lift the lifting frame upward to drive the cleaning component to rise.

[0017] In some embodiments, the main body has a first trigger switch, the frame has a first trigger part, and the first trigger part is used to: when the frame rises to a first preset position, the first trigger part triggers the first trigger switch; and / or, the main body has a second trigger switch, the frame has a second trigger part, and the second trigger part is used to: when the frame descends to a second preset position, the second trigger part triggers the second trigger switch.

[0018] In some embodiments, the cleaning assembly further includes a first elastic member and a lining, the first elastic member is disposed on the frame, the lining is connected to the first elastic member, the pressurizing portion is used to abut against the lining and transmit the force to the frame through the first elastic member.

[0019] In some embodiments, the main body has a limiting hole, and the cleaning component includes a first limiting sleeve arranged on the frame, the outer peripheral side of the first limiting sleeve has a flange, and the first limiting sleeve is slidably passed through the limiting hole along the height direction of the cleaning robot, and the flange can abut against the upper edge of the limiting hole.

[0020] In some embodiments, the cleaning robot further comprises a four-bar linkage, wherein the connecting lines connecting the four hinge points of the four-bar linkage in sequence form a parallelogram, the four-bar linkage is mounted on the main body at two adjacent hinge points of the four hinge points, and the four-bar linkage is mounted on the frame at the other two adjacent hinge points of the four hinge points, wherein the connecting rod of the four-bar linkage spanning the main body and the frame is a first connecting rod, and the first connecting rod is rotatably connected to the main body and the frame respectively.

[0021] In some embodiments, the cleaning assembly is liftably mounted on the main body, and the cleaning assembly includes a main body and a lifting member, the lifting member protrudes from the main body and is connected to the main body, and a slot is formed between the lifting member and the main body;

[0022] The driving assembly is arranged on the main body, and the driving assembly includes a driving member and a rotating member. The driving member is suitable for driving the rotating member to rotate. The rotating member has a protrusion extending along its rotation axis. At least a part of the protrusion is suitable for inserting into the slot and cooperating with the lifting member to drive the cleaning assembly to rise and fall under the drive of the driving member.

[0023] In some embodiments, the present invention further comprises: a second elastic member, wherein the second elastic member cooperates with the main body and the cleaning component respectively, and the second elastic member is suitable for applying a downward elastic force to the cleaning component.

[0024] In some embodiments, the second elastic member is a spring, the main body has a first limiting portion, the main body has a second limiting portion, and the two ends of the spring respectively cooperate with the first limiting portion and the second limiting portion, wherein the first limiting portion is a limiting column or a limiting groove, and the second limiting portion is a limiting column or a limiting groove.

[0025] In some embodiments, the second elastic member is a torsion spring, at least one of the body and the main body is provided with a fixed shaft, the torsion spring is sleeved on the fixed shaft, one end of the torsion spring cooperates with the body, and the other end of the torsion spring cooperates with the main body.

[0026] In some embodiments, the second elastic member is a tension spring, the cleaning component is provided with a first connecting hook, the main body is provided with a second connecting hook, one end of the tension spring is hooked on the first connecting hook, and the other end of the tension spring is hooked on the second connecting hook.

[0027] In some embodiments, it also includes: a limiting component for limiting the moving path of the cleaning component, the limiting component includes two connecting blocks and at least one connecting rod, one connecting block is connected to the main body, and the other connecting block is connected to the cleaning component, and the two ends of each connecting rod are rotatably connected to the two connecting blocks respectively.

[0028] In some embodiments, the connection block is snap-fitted to the main body; and / or the connection block is snap-fitted to the cleaning component.

[0029] In some embodiments, the connecting rod comprises a plurality of connecting rods, and the plurality of connecting rods are arranged in parallel.

[0030] In some embodiments, the rotating member includes a rotating body and a protrusion, the rotating body is connected to the driving member and is suitable for rotating around the output shaft of the driving member, the protrusion is located on the side of the rotating body away from the driving member and the protrusion is located on the radial side of the output shaft, and the protrusion is suitable for inserting into the slot.

[0031] In some embodiments, the rotating member further includes a linkage member, which is arranged on a side of the protrusion away from the rotating body, the main body has a limiting sleeve, and at least a portion of the linkage member is suitable for being inserted into the limiting sleeve and rotatingly cooperating with the limiting sleeve.

[0032] In some embodiments, the linkage member and the protrusion are an integrally formed part.

[0033] In some embodiments, the rotating member includes a crank, one end of which is connected to the driving member and adapted to rotate around an output shaft of the driving member, and the crank is adapted to extend into the slot;

[0034] And / or, the rotating member includes a cam, the cam is connected to the driving member and is suitable for rotating around the output shaft of the driving member, and the cam is suitable for being inserted into the slot.

[0035] In some embodiments, the body comprises:

[0036] A lifting plate, wherein the lifting member is arranged on the lifting plate;

[0037] A cleaning member bracket, the cleaning member bracket being arranged at the lower portion of the lifting plate, the cleaning member bracket defining a cleaning member cavity with one side open;

[0038] A cleaning member is disposed in the cleaning member cavity and is rotatably connected to the cleaning member bracket.

[0039] In some embodiments, the main body has a limiting hole, the cleaning assembly has a first limiting member, one end of the first limiting member is connected to the main body, and the other end of the first limiting member passes through the limiting hole and has a limiting end surface extending into the upper surface of the main body.

[0040] The first limiting member is movable relative to the limiting hole, and limits the downward movement of the main body when the limiting end surface abuts against the upper surface of the main body.

[0041] In some embodiments, it further includes: at least one driving switch, the driving switch is arranged on the main body, the main body has at least one switch part, and the driving switch is suitable for controlling the driving member to stop working when the switch part cooperates with it.

[0042] In some embodiments, the cleaning robot further comprises a bracket and a pulley assembly, wherein the bracket is liftably provided on the main body, and the pulley assembly comprises a first movable pulley provided on the bracket;

[0043] The driving assembly is arranged on the main body, and the driving assembly includes a driving mechanism and a cable. The cable is arranged around the first movable pulley and is respectively connected to the driving mechanism and the main body. The driving mechanism controls the lifting and lowering of the bracket through the cable.

[0044] In some embodiments, the pulley assembly further comprises:

[0045] a second movable pulley, provided on the bracket;

[0046] a fixed pulley, provided on the main body;

[0047] The cable is led out from the driving mechanism and is sequentially wound around the first movable pulley, the fixed pulley and the second movable pulley.

[0048] In some embodiments, the second movable pulley is located above the first movable pulley, and the fixed pulley is located above the second movable pulley.

[0049] In some embodiments, the driving assembly further includes a cable storage part, the driving mechanism is provided with a rotatable second driving part, the cable storage part is detachably connected to the second driving part and is driven to rotate by the second driving part, the cable is connected to and wound on the cable storage part, wherein, when the driving mechanism drives the bracket to rise from the second position to the first position and the driving mechanism continues to run, the cable storage part is separated from the driving part.

[0050] In some embodiments, the drive assembly further comprises:

[0051] a mounting portion, wherein the cable storage member is movably mounted on the mounting portion along an axial direction of the cable storage member, and one of the end surfaces of the second driving portion facing the cable storage member is provided with a recess, and the other end surface is provided with a protrusion, wherein the protrusion is locked in the recess;

[0052] a third elastic member, provided on the mounting portion and elastically abutting against an end of the cable storage member facing away from the second driving portion;

[0053] Wherein, when the driving mechanism drives the bracket to rise to the first position and the driving mechanism continues to operate, the protrusion slides out of the recess.

[0054] In some embodiments, the mounting portion is provided with a mounting shaft, the cable storage member is rotatably sleeved outside the mounting shaft and can slide along the axial direction of the mounting shaft, and the second driving portion is rotatably mounted on the mounting shaft.

[0055] In some embodiments, the third elastic member includes a spring sleeved outside the mounting shaft.

[0056] In some embodiments, a plurality of the recesses are provided and are evenly arranged along the circumference of the installation axis, and a plurality of the protrusions are provided corresponding to the recesses and are evenly arranged along the circumference of the installation axis.

[0057] In some embodiments, the surface of the concave portion is configured as an inwardly concave spherical surface or an arc surface, and the surface of the convex portion is configured as an outwardly convex spherical surface or an arc surface.

[0058] In some embodiments, the main body is provided with a swing frame that can rotate relative to the main body, the rotation axis between the swing frame and the main body extends in a horizontal direction, and the bracket is connected to the swing frame.

[0059] In some embodiments, the swing frame includes a plurality of swing rods rotatably connected to the main body and parallel to each other, the rotation axes between all the swing rods and the main body extend in a horizontal direction, and the bracket is connected to one end of all the swing rods away from the main body.

[0060] In some embodiments, there are at least two groups of swing arms distributed side by side, each group of swing arms has at least two swing arms arranged along the height direction of the main body, all the swing arms are rotatably connected to the bracket, and all the rotation axes between the swing arms and the bracket extend in the horizontal direction.

[0061] In some embodiments, wherein the support is capable of descending from a first position to a second position, the main body or the support is provided with a first switch connected to the drive mechanism, and the first switch is configured to operate when the support descends to the second position to stop the drive mechanism;

[0062] The main body or the bracket is provided with a second switch connected to the driving mechanism, and the second switch is configured to operate when the bracket rises to the first position to stop the driving mechanism.

[0063] In some embodiments, the bracket can be lowered from a first position to a second position, the main body is provided with a clearance hole, the bracket is installed with a limiter that passes through the clearance hole, and the outer wall of the top end of the limiter is provided with a flange, and when the bracket is lowered to the second position, the bottom surface of the flange abuts against the main body; or

[0064] The bracket is provided with a clearance hole, and the main body is installed with a limiting member passing through the clearance hole. The outer wall of the bottom end of the limiting member is provided with a flange. When the bracket descends to the second position, the top surface of the flange abuts against the bracket.

[0065] In some embodiments, the cleaning component is configured as a roller.

[0066] Another aspect of the present invention provides a cleaning device, including:

[0067] fuselage components;

[0068] A driver, mounted on the fuselage assembly;

[0069] A mounting frame is rotatably connected to the fuselage assembly, wherein the central axis of rotation of the mounting frame relative to the fuselage assembly is a first axis, and the driver is used to drive the mounting frame to rotate;

[0070] The cleaning member is rotatably connected to the mounting frame. The central axis of rotation of the cleaning member relative to the mounting frame is the second axis. The first axis and the second axis are arranged at intervals.

[0071] In some embodiments, the distance between the first axis and the second axis is greater than or equal to In some embodiments, the distance between the first axis and the second axis is In some embodiments, the mounting bracket includes:

[0072] A mounting body is rotatably connected to the body assembly, two ends of the cleaning member are provided on the mounting body, the cleaning member is rotatably connected to the mounting body, and the driver is used to drive the mounting body to rotate;

[0073] The cover shell is connected between the mounting bodies at both ends. The cover shell is at least partially located on the side of the second axis radially toward the first axis of the cleaning member. The cover shell and the mounting bodies at both ends form an accommodating cavity, and the cleaning member is partially located in the accommodating cavity.

[0074] In some embodiments, the mounting bracket has a third trigger portion, which is located on a side of the mounting bracket radially away from the cleaning member, and the cleaning device also includes a third trigger switch, and the third trigger portion can follow the mounting bracket to rotate to a position where the third trigger switch is triggered so that the third trigger switch generates a signal that the mounting bracket is rotated to the extreme position.

[0075] In some embodiments, the third trigger switch includes a signal generator and a probe rod installed on the signal generator, and the third trigger portion has a trigger surface for abutting the probe rod. When the trigger surface abuts the probe rod, the trigger surface and the probe rod are arranged crosswise, and the trigger surface is approximately perpendicular or at a certain angle to the axial direction of the probe rod.

[0076] In some embodiments, the third trigger portion is in the shape of a plate, the number of the third trigger switches is multiple, at least one of the probe rods of the third trigger switches is a first probe rod, the first probe rod has a first contact surface abutting the trigger surface, at least one of the probe rods of the third trigger switch is a second probe rod, the second probe rod and the first probe rod are arranged along the circumference of the cleaning member, the first probe rod is located on one side of the cleaning member along a preset direction, the preset direction is arranged to cross the axial direction and the up and down directions of the cleaning member respectively, the second probe rod is located on the other side of the cleaning member along the preset direction, the second probe rod has a second contact surface abutting the trigger surface, the first contact surface or the second contact surface coincides with the second axis, and the distance between the first contact surface and the second contact surface is equal to the thickness of the third trigger portion in the shape of a plate.

[0077] In some embodiments, the first contact surface or the second contact surface is parallel to the horizontal plane, and the distance between the first contact surface and the second contact surface is the height difference between the first contact surface and the second contact surface.

[0078] In some embodiments, when the driver drives the mounting bracket to rotate in a first direction so that the cleaning member rotates to an ascending state, the third trigger portion is located at a position corresponding to one of the third trigger switches being triggered to generate a signal that the mounting bracket rotates to an extreme position in the first direction; when the driver drives the mounting bracket to rotate in a second direction so that the cleaning member rotates to a descending state, the second direction is opposite to the first direction, and the third trigger portion is located at a position corresponding to another of the third trigger switches being triggered to generate a signal that the mounting bracket rotates to an extreme position in the second direction.

[0079] In some embodiments, the limiting portion is provided at at least one end of the body assembly along the axial direction of the cleaning member, and the mounting frame has a limiting rib. When the third trigger portion is located at a position to trigger the third trigger switch, the limiting portion abuts against the corresponding limiting rib.

[0080] In some embodiments, the body assembly is provided with the limiting parts at both ends of the axial direction of the cleaning member, the third trigger switch is located between the limiting parts at both ends along the axial direction of the cleaning member, and the limiting part at each end abuts against the corresponding limiting rib.

[0081] In some embodiments, the cleaning member is provided with the third trigger switch and the corresponding limiting portion on both sides of the relative sides along a preset direction, the preset direction is cross-arranged with the axial direction and the up and down directions of the cleaning member, and the limiting portion on each side abuts against the corresponding limiting rib.

[0082] In some embodiments, when the cleaning member is in a descending state, the first axis is located above the second axis, and the mounting frame at least partially covers the top of the cleaning member to prevent liquid on the cleaning member from splashing toward the fuselage component; when the cleaning member is in an ascending state, the first axis is located below the second axis, and the mounting frame is at least partially located below the cleaning member to collect liquid dripping downward from the cleaning member.

[0083] In some embodiments, the cleaning device further includes a sensor disposed on the body assembly, the sensor being used to detect the material of the surface to be cleaned and generate a detection signal based on the material of the surface to be cleaned, and the detection signal being used as a basis for controlling the driver to drive the mounting frame to lift and lower the cleaning component.

[0084] In some embodiments, the cleaning device is a cleaning robot.

[0085] In some embodiments, the cleaning member is a roller. BRIEF DESCRIPTION OF THE DRAWINGS

[0086] FIG1 is a schematic structural diagram of a cleaning robot in one embodiment of the present application;

[0087] FIG2 is a schematic diagram of a portion of the structure in FIG1 ;

[0088] FIG3 is a schematic cross-sectional view of the structure in FIG2 at AA;

[0089] FIG4 is an enlarged schematic diagram of the structure in FIG2 at position M;

[0090] FIG5 is a schematic cross-sectional view of the structure in FIG2 at position BB;

[0091] FIG6 is an enlarged schematic diagram of the structure in FIG2 at position N;

[0092] FIG7 is a schematic cross-sectional view of the structure in FIG2 at CC;

[0093] FIG8 is a schematic cross-sectional view of the structure in FIG2 at DD;

[0094] FIG9 is a schematic cross-sectional view of a cleaning robot in one embodiment of the present application;

[0095] FIG10 is a schematic diagram of a partial structure of a rack in one embodiment of the present application;

[0096] FIG11 is a schematic structural diagram of a cleaning member in one embodiment of the present application;

[0097] FIG12 is a schematic diagram of a partial structure of a cleaning robot according to an embodiment of the present application;

[0098] FIG13 is an enlarged view of structure E in FIG12 ;

[0099] FIG14 is a cross-sectional view of a cleaning robot according to one embodiment of the present application at a different viewing angle;

[0100] FIG15 is an enlarged view of the structure F in FIG14 ;

[0101] FIG16 is an enlarged view of the G structure in FIG14;

[0102] FIG17 is a cross-sectional view of a cleaning robot according to an embodiment of the present application from another perspective;

[0103] FIG18 is a cross-sectional view of the cleaning robot according to one embodiment of the present application from another perspective;

[0104] FIG19 is a cross-sectional view of the cleaning robot according to one embodiment of the present application from another perspective;

[0105] FIG20 is a cross-sectional view of a cleaning robot according to one embodiment of the present application at a different viewing angle;

[0106] FIG21 is an enlarged view of the H structure in FIG20;

[0107] FIG22 is a schematic structural diagram of a lifting plate according to one embodiment of the present application;

[0108] FIG23 is a schematic structural diagram of a lifting member according to one embodiment of the present application;

[0109] FIG24 is a schematic structural diagram of a drive assembly according to one embodiment of the present application;

[0110] FIG25 is a schematic structural diagram of a first position-limiting member according to one embodiment of the present application;

[0111] FIG26 is a schematic structural diagram of a driving switch according to an embodiment of the present application;

[0112] FIG27 is a schematic diagram of a partial structure of a cleaning robot according to another embodiment of the present application;

[0113] FIG28 is a cross-sectional view of a cleaning robot according to another embodiment of the present application;

[0114] FIG29 is a schematic structural diagram of a lifting plate according to another embodiment of the present application;

[0115] FIG30 is a cross-sectional view of a cleaning robot according to another embodiment of the present application at a different viewing angle;

[0116] FIG31 is an enlarged view of the J structure in FIG30;

[0117] FIG32 is a cross-sectional view of a cleaning robot according to yet another embodiment of the present application from another perspective;

[0118] FIG33 is a schematic diagram of the partial structure of a cleaning member support according to yet another embodiment of the present application.

[0119] FIG34 is a schematic structural diagram of a cleaning robot according to an embodiment of the present application;

[0120] Figure 35 is a schematic diagram of the installation of the bracket;

[0121] Figure 36 is a schematic diagram of the installation of the pulley assembly;

[0122] FIG37 is a schematic structural diagram of a drive assembly according to an embodiment of the present application;

[0123] FIG38 is a schematic diagram of the internal structure of the mounting portion in FIG37;

[0124] FIG39 is a cross-sectional view of the driving mechanism in FIG37;

[0125] FIG40 is a schematic structural diagram of the cable storage member in FIG38;

[0126] FIG41 is a schematic structural diagram of the second driving unit in FIG38;

[0127] FIG42 is a schematic structural diagram of the cable in FIG38;

[0128] FIG43 is a partial cross-sectional view of a cleaning robot according to an embodiment of the present application;

[0129] FIG44 is an enlarged view of point K in FIG43;

[0130] FIG45 is an enlarged view of point S in FIG43;

[0131] FIG46 is an enlarged view of point T in FIG43;

[0132] FIG47 is a schematic structural diagram of the bracket in FIG43;

[0133] Figure 48 is a schematic diagram of the installation of the swing frame;

[0134] FIG49 is a schematic diagram of the structure of a cleaning device according to an embodiment of the present application, showing a portion of the structure of the body assembly and a cross-sectional view of the cleaning device. The structure shown in the figure does not represent a particular state in which the mounting frame is rotated;

[0135] FIG50 is an X-axis view of FIG49;

[0136] FIG51 is a cross-sectional view at position PP in FIG49, showing a state in which the trigger portion is in contact with the second probe rod;

[0137] FIG52 is a cross-sectional view at position QQ in FIG49 , showing that the limiting rib is in contact with the corresponding limiting portion on one side;

[0138] FIG53 is a cross-sectional view at position PP in FIG49 , showing a state in which the trigger portion is in contact with the first probe rod;

[0139] FIG54 is a cross-sectional view at position QQ in FIG49 , showing that the limiting rib is in contact with the corresponding limiting portion on the other side;

[0140] FIG55 is a schematic structural diagram of a mounting frame according to an embodiment of the present application;

[0141] FIG56 is a schematic structural diagram of a fuselage assembly according to an embodiment of the present application, showing a partial structure of the fuselage assembly;

[0142] Figure 57 is a three-dimensional view of the cleaning equipment according to an embodiment of the present application. DETAILED DESCRIPTION

[0143] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0144] In the description of the embodiments of the present application, it should be noted that the terms "upper", "lower", "top", "bottom", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present application. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0145] In the description of the embodiments of this application, it should be noted that, unless otherwise specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of this application based on the specific circumstances.

[0146] In the embodiments of the present application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, a first feature being "above," "above," and "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0147] In the description of this specification, reference to the terms "one embodiment," "some embodiments," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example.

[0148] In the related art, cleaning equipment uses a cleaning element to rotate and mop the floor in the cleaning mode to clean the floor. After cleaning the object, in other operating modes, such as the transfer mode in which the cleaning equipment moves to the base station after cleaning, the cleaning element may retain dirt and sewage. The cleaning element needs to be lifted off the floor as much as possible to prevent the dirt and sewage on the cleaning element from contaminating the floor again. However, the cleaning element of current cleaning equipment cannot be lifted or lowered, making it difficult to lift off the floor. This makes it difficult to meet both cleaning and transfer conditions, making it difficult for the cleaning equipment to meet multiple different usage conditions.

[0149] An embodiment of the present application provides a cleaning robot. Please refer to Figures 2 and 3. The cleaning robot includes a main body 10, a cleaning component 20 and a driving component 30.

[0150] The main body 10 is the main structure of the cleaning robot, supporting its primary components. For example, referring to Figure 1 , the main body 10 is equipped with drive wheels 13 and roller brushes 14. The axes of at least two drive wheels 13 are collinear, driving the cleaning robot in a direction perpendicular to the axes of the drive wheels 13 and along a supporting surface, such as a floor. The roller brushes 14 continuously roll during operation, sweeping and collecting dust and debris along the robot's path.

[0151] The cleaning assembly 20 is arranged below the main body 10. Exemplarily, the cleaning assembly 20 includes a frame 21 and a cleaning member 22. The cleaning member 22 is arranged on the frame 21. The frame 21 is connected to the main body 10 and can move in the height direction relative to the main body 10.

[0152] The cleaning member 22 is rotatably mounted on the frame 21. In other words, the frame 21 provides mounting space for the cleaning member 22. The cleaning member 22 is configured to contact and clean a supporting surface, which is also the surface to be cleaned. For example, when the cleaning member 22 is in operation, the flannel attached thereto wipes the floor to remove stains and the like.

[0153] The cleaning member 22 can be in any form. For example, referring to FIG7 , the cleaning member 22 is cylindrical with a circular cross-section. For another example, referring to FIG11 , the cleaning member 22 is flat and cylindrical, with a rotating shaft 221 inside the cleaning member 22 driving the crawler-type fleece cloth to rotate. The axis of the cleaning member 22 is the same as the axis of the rotating shaft 221 (shown as a dotted line).

[0154] The cleaning assembly can be raised and lowered relative to the main body. It is understood that the frame 21 can be connected to the main body 10 in a floating manner. When the frame 21 floats, the cleaning member 22 floats with it, and floating is a lifting motion. The floating connection between the frame 21 and the main body 10 is not limited. For example, the frame 21 can be connected to the main body 10 via a slider disposed on a vertical guide rod, and the frame 21 can move up and down relative to the main body 10 along the guide rod.

[0155] In some embodiments, please refer to Figure 8, the cleaning robot also includes a four-bar linkage 40, and the lines connecting the four hinge points of the four-bar linkage 40 in sequence form a parallelogram. The four-bar linkage 40 is installed on the main body 10 at two adjacent hinge points of the four hinge points, and the four-bar linkage 40 is installed on the frame 21 at the other two adjacent hinge points of the four hinge points. The connecting rod of the four-bar linkage 40 that spans the main body 10 and the frame 21 is the first connecting rod 71, and the first connecting rod 71 is rotatably connected to the main body 10 and the frame 21 respectively.

[0156] The four-bar linkage 40 not only allows the cleaning component 20 to be floatingly connected to the main body 10, but also can withstand the traction force of the main body 10 on the cleaning component 20 during the movement of the cleaning robot. This traction force has a component parallel to the support surface, allowing the cleaning component 20 to withstand greater friction resistance from the support surface.

[0157] Exemplarily, the frame 21 has a first mounting column 73, and the other link of the four-bar linkage 40 that spans the main body 10 and the frame 21 is the second link 72. The same end of the first link 71 and the second link 72 are both rotatably connected to the first mounting column 73. The first mounting column 73 plays a guiding role, so that the height direction of the cleaning component 20 remains along the normal of the support surface.

[0158] Please refer to Figure 3. The driving component 30 is arranged on the main body 10 or the cleaning component 20. The driving component 30 includes a first driving part 41 and a pressurizing part 42. The driving component can also be called a pressurizing component. The first driving part 41 drives the pressurizing part 42 to switch between a pressurizing state and an avoidance state. In the pressurized state, the driving component 30 applies pressure to the cleaning component 20, and the pressure has at least a downward component.

[0159] The aforementioned downward force component refers to the component of pressure directed toward the support surface along the height direction of the cleaning robot. In one embodiment, the drive assembly 30 is disposed on the main body 10 and applies pressure to the cleaning assembly 20 by squeezing it. In another embodiment, the drive assembly 30 is disposed on the cleaning assembly 20 and squeezes the main body 10. In this case, the cleaning assembly 20 provides support to the drive assembly 30 and is subjected to a reaction force from the drive assembly 30, i.e., the drive assembly 30 applies pressure to the cleaning assembly 20.

[0160] In the pressurized state, the pressure between the cleaning member 22 and the support surface increases. As the cleaning member 22 rolls, it can clean stubborn stains on the support surface, enhance the cleaning effect, and reduce the number of times the cleaning robot repeatedly wipes the stubborn stain area.

[0161] In the evasive state, the pressurizing portion 42 allows the cleaning assembly 20 to float up and down relative to the main body 10. This means that the height of the cleaning assembly 20 can change. In this evasive state, the weight of the cleaning assembly 20 causes the cleaning element 22 to contact the support surface. This contact pressure is lower than in the pressurized state, resulting in less frictional resistance as the cleaning assembly 20 moves with the robot. This helps reduce the robot's energy consumption and extend its battery life.

[0162] In addition, in the avoidance state, when there are obstacles on the support surface, such as slightly larger garbage or sockets installed on the floor, the cleaning component 20 can rise upward under the action of the obstacle to improve the robot's passability.

[0163] It is understood that when encountering stubborn stains, the first drive unit 41 drives the pressurizing unit 42 to switch to a pressurizing state, enhancing the cleaning effect of the cleaning robot. When leaving the stubborn stains, the first drive unit 41 drives the pressurizing unit 42 to switch to an avoidance state, reducing the operating energy consumption of the cleaning robot. For example, the main body 10 is equipped with a control module and a perception module. The perception module collects information about the surrounding environment, and the control module obtains the information collected by the perception module, confirms whether it encounters stubborn stains, and controls the first drive unit 41.

[0164] The cleaning robot provided in the embodiment of the present application switches the pressurizing part between a pressurized state and an avoidance state through a first driving part. In the pressurized state, the cleaning ability of the cleaning robot is improved and stubborn stains can be effectively removed. In the avoidance state, the working energy consumption of the cleaning robot is reduced and the passability is improved.

[0165] In some embodiments, referring to FIG3 , the driving assembly 30 is disposed on the main body 10 , reducing the gravity exerted on the cleaning assembly 20 by the driving assembly 30 , thereby reducing the pressure of the cleaning member 22 contacting the supporting surface in the avoidance state, and further reducing the working energy consumption of the cleaning robot.

[0166] In this embodiment, referring to FIG4 , a first driving portion 41 is used to rotate a pressurizing portion 42 . The pressurizing portion 42 has a pressurizing surface 42 a , and the height of the pressurizing surface 42 a can be adjusted during rotation. In the pressurizing state, the pressurizing surface 42 a contacts the cleaning assembly 20 to apply pressure; in the retracting state, the pressurizing surface 42 a is separated from the cleaning assembly 20 .

[0167] The first driving part 41 is a power mechanism that can generate rotational power. For example, the first driving part 41 includes a motor, and the output shaft of the motor is connected to the pressurizing part 42 to drive it to rotate; for another example, the first driving part 41 includes a motor and a transmission structure, and the power of the motor is transmitted to the pressurizing part 42 through the transmission mechanism to meet the space layout requirements inside the cleaning robot.

[0168] This embodiment is beneficial for the cleaning robot to actively control the power output of the first driving part 41 to adjust the height of the pressurizing surface 42a, so that the pressurizing part 42 switches between the pressurizing state and the avoidance state.

[0169] The direction of the rotation axis of the pressurizing portion 42 is not limited. For example, it can be along the height direction of the cleaning robot.

[0170] In some embodiments, the rotation axis of the pressurizing portion 42 is perpendicular to the height direction of the cleaning robot, that is, the rotation axis of the pressurizing portion 42 extends substantially in the horizontal plane. This helps to reduce the height of the cleaning robot, allowing the cleaning robot to move around and clean under more furniture, such as sofas and coffee tables.

[0171] The form of the pressurizing part 42 is not limited. For example, the pressurizing part 42 includes a nut and a screw. One end of the screw defines a pressurizing surface 42a. The nut is fixed to the main body 10. The screw can descend during rotation, so that the pressurizing surface 42a is downwardly abutted against the cleaning component 20, and the pressurizing part 42 switches to a pressurized state.

[0172] In other embodiments, the pressurizing portion 42 comprises a cam, the outer circumferential surface of which defines a pressurizing surface 42a. At least some points on the pressurizing surface 42a have varying distances from the cam axis. As the cam rotates, the distance between the pressurizing surface 42a and the cleaning assembly 20 changes until the pressurizing surface 42a abuts the cleaning assembly 20, at which point the pressurizing portion 42 switches to a pressurizing state. The cam structure is simple, facilitating processing and assembly.

[0173] In other embodiments, the pressurizing portion 42 includes an eccentric wheel, the outer peripheral surface of which defines a pressurizing surface 42a. The centroid of the eccentric wheel is offset from its rotational axis. As the eccentric wheel rotates, the distance between the pressurizing surface 42a and the cleaning assembly 20 changes until the pressurizing surface 42a abuts the cleaning assembly 20, at which point the pressurizing portion 42 switches to a pressurizing state. The eccentric wheel has a simple structure, facilitating processing and assembly.

[0174] In other embodiments, referring to FIG. 4 , the pressurizing portion 42 includes a crankshaft 43 , which includes a main journal 431 and a connecting rod journal 432 . The axis of the main journal 431 and the rotation axis of the pressurizing portion 42 are colinear, and the side surface of the connecting rod journal 432 defines a pressurizing surface 42 a.

[0175] It should be noted that the axis of the connecting rod neck 432 of the crankshaft 43 is parallel to the axis of the main journal 431 and is arranged at intervals, so that during the rotation of the crankshaft 43, the connecting rod neck 432 rotates around the axis of the main journal 431, and the distance from the connecting rod neck 432 to the cleaning assembly 20 changes until the connecting rod neck 432 contacts the cleaning assembly 20 and the pressurizing part 42 switches to the pressurized state.

[0176] The crankshaft 43 has a good load-bearing capacity, which helps increase the pressure that can be applied to the cleaning assembly 20 under the pressurized state. For example, referring to Figure 4, the crankshaft 43 has two main journals 431, which are respectively disposed on two crankshaft sleeves 44. The connecting rod journal 432 is disposed between the two main journals 431. As a result, the crankshaft 43 can withstand a large bending moment.

[0177] Exemplarily, the axial direction of the connecting rod neck 432 of the crankshaft 43 is parallel to that of the main journal 431 and is at a certain distance away. In this way, in the avoidance state, by rotating the pressurizing part 42, the distance from the pressurizing surface 42a to the cleaning component 20 is larger, and the floating space of the cleaning component 20 in the up and down directions is larger to adapt to different supporting surface terrains. For example, if the floor is slightly uneven, the cleaning part 22 can always maintain contact with the floor.

[0178] In some embodiments, please refer to Figure 9, the cleaning component 20 includes a lifting frame 23 arranged on the frame 21, and the connecting rod neck 432 is passed through the bottom of the lifting frame 23. The first driving part 41 can drive the pressure part 42 to rotate to the first preset angle position and lift the lifting frame upward to drive the cleaning component 20 to rise.

[0179] That is to say, starting from the first preset angle position, the pressure part 42 is connected to the lifting frame 23, and the lifting frame 23 rises under the drive of the pressure part 42, thereby driving the cleaning component 20 to rise. The pressure part 42 continues to rotate, and the cleaning component 20 continues to rise until it reaches the highest point.

[0180] It can be understood that in another embodiment, there is a second preset angle position. After the pressure-applying part 42 causes the cleaning component 20 to pass the highest point, it continues to rotate, and the position of the cleaning component 20 drops. Starting from the second preset angle position, the pressure-applying part 42 is separated from the lifting frame 23, and the cleaning component 20 can move downward under the action of its own weight.

[0181] In another embodiment, after the pressure-applying portion 42 causes the cleaning assembly 20 to pass the highest point, the pressure-applying portion 42 rotates in the opposite direction, the position of the cleaning assembly 20 is lowered, and starting from the first preset angle position, the pressure-applying portion 42 is separated from the lifting frame 23, and the cleaning assembly 20 can move downward under the action of its own weight.

[0182] When the cleaning robot is working on a supporting surface, the cleaning component 20 can float up and down in order to maintain contact between the cleaning member 22 and the supporting surface. When the cleaning robot needs to cross an obstacle, such as a door threshold, carpet, etc., the cleaning component 20 can be raised by the pressurizing part 42 to reduce the risk of the cleaning component 20 being hit by the obstacle.

[0183] For another example, when the cleaning robot moves from a tile floor to a wooden floor, the pressurizing portion 42 can be rotated to drive the lifting frame 23 to rise, thereby raising the cleaning assembly 20 to lift the wet cleaning member 22 and reduce the impact on the wooden floor.

[0184] In this way, the setting of the driving component 30 and the lifting frame 23 can realize both the active pressurization of the cleaning component 20 and the active lifting of the cleaning component 20, making full use of the various angular positions of the driving component 30 during the rotation process, reducing complex parts, and improving the working stability and maintainability of the cleaning robot.

[0185] For example, referring to FIG9 and FIG10 , the frame 21 has a support 29 , and both ends of the lifting frame 23 are respectively arranged on the two supports 29 , and the connecting line of the two supports 29 is perpendicular to the axis of the crankshaft 43 , resulting in a compact structure.

[0186] In some embodiments, referring to FIG. 3 and FIG. 10 , the main body 10 has a first trigger switch 11 , and the frame 21 has a first trigger portion 211 . The first trigger portion 211 is configured to trigger the first trigger switch 11 when the frame 21 rises to a first preset position.

[0187] The above-mentioned first preset position means that the cleaning component 20 has risen to the preset highest point. In order to reduce the risk of collision caused by the cleaning component 20 continuing to rise, when the first trigger switch 11 is triggered, the pressure part 42 stops rotating, the cleaning component 20 stops rising, and remains in this position.

[0188] In some embodiments, referring to FIG. 5 and FIG. 10 , the main body 10 has a second trigger switch 12 , and the frame 21 has a second trigger portion 212 . The second trigger portion 212 is configured to trigger the second trigger switch 12 when the frame 21 descends to the second preset position.

[0189] The second preset position means that the cleaning assembly 20 has been lowered to the preset position, the cleaning member 22 begins to contact the support surface, and the pressurizing portion 42 is in the avoidance state. When the second trigger switch 12 is triggered, the pressurizing portion 42 can stop rotating or continue rotating until it switches to the pressurizing state.

[0190] In this way, the cleaning robot can determine the current state of the cleaning component 20, control the first driving part 41 more accurately, and adjust the cleaning component 20 in time according to the working environment.

[0191] It should be noted that the first trigger switch is not limited in form. For example, it can be a mechanical limit switch or an optocoupler switch using photoelectric input. The second trigger switch is not limited in form. For example, it can be a mechanical limit switch or an optocoupler switch using photoelectric input.

[0192] In some embodiments, please refer to Figure 7, the cleaning component 20 also includes a first elastic member 24 and a lining 25, the first elastic member 24 is arranged on the frame 21, the lining 25 is connected to the first elastic member 24, and the pressurizing portion 42 is used to abut against the lining 25 and transmit the force to the frame 21 through the first elastic member 24.

[0193] The first elastic member 24 may be in any form, for example, a compression spring or a rubber pad.

[0194] In this embodiment, in the pressurized state, the height of the pressurizing surface 42a changes with the rotation of the pressurizing part 42, causing the first elastic member 24 to deform to varying degrees, thereby facilitating the adjustment of the pressure applied by the pressurizing part 42 to the cleaning assembly 20 through the rotation of the pressurizing part 42, thereby adjusting the cleaning effect of the cleaning robot.

[0195] The material of the lining 25 is not limited. For example, it can be heat-treated 45# steel or polyoxymethylene (POM). Preferably, a wear-resistant material is used to extend the service life of the lining 25.

[0196] Further, referring to FIG. 10 , the frame 21 has a spring seat 27 , in which the first elastic member 24 is embedded. The spring seat 27 guides the lining 25 so that the lining 25 can only slide along the height direction of the spring seat 27 .

[0197] In some embodiments, please refer to Figures 5 and 6, the main body 10 has a limiting hole 10a, and the cleaning component 20 includes a first limiting sleeve 26 arranged on the frame 21. The outer peripheral side of the first limiting sleeve 26 has a flange 261. The first limiting sleeve 26 is slidably inserted into the limiting hole 10a along the height direction of the cleaning robot, and the flange 261 can abut against the upper edge of the limiting hole 10a.

[0198] It should be noted that the outer edge size of the flange 261 is larger than the aperture of the limiting hole 10a, and the structural size below the flange 261 is less than or equal to the aperture of the limiting hole 10a. Therefore, the first limiting sleeve 26 can be slidably passed through the limiting hole 10a and hung on the main body 10 through the flange 261, so that the cleaning component 20 has the lowest position in the height direction relative to the main body 10.

[0199] The cooperation between the first limiting sleeve 26 and the limiting hole 10a prevents the cleaning component 20 from falling off the main body 10. In some cases, such as when the cleaning robot is suspended in the air or the pressurizing part 42 excessively lowers the cleaning component 20, the cleaning component 20 remains connected to the main body 10, reducing the risk of damage to components.

[0200] For example, a threaded hole seat 28 is provided on the frame 21, and the first limiting sleeve 26 is connected to the threaded hole seat 28 by screws to be fixed to the frame 21. There can be one or more first limiting sleeves 26, and multiple first limiting sleeves 26 can be arranged at intervals along the axis direction of the cleaning member 22 to maintain force balance on the cleaning assembly 20.

[0201] The following describes a cleaning device in a cleaning robot according to an embodiment of the present application with reference to Figures 1 to 32.

[0202] In an embodiment of the present application, the surface to be cleaned can be indoor floors, floor tiles or carpets, etc., and the cleaning device can be built into the sweeping machine. The sweeping machine is generally provided with an environmental monitoring device so that the cleaning components in the cleaning device can automatically rise and fall according to environmental changes, which can improve the intelligence of the sweeping machine. Alternatively, the user can operate on a smart terminal such as a mobile phone or a remote control, and remotely control the lifting and lowering of the cleaning components through wireless transmission signals such as infrared, Bluetooth or local area network, which is convenient for operation; of course, the sweeping machine can be provided with an operation panel, and the user can directly control the lifting and lowering of the cleaning components through the operation panel.

[0203] In addition, the cleaning device can also be built into a cleaning robot, a floor scrubber or a road sweeper, which can expand the scope of application of the cleaning device.

[0204] According to the embodiment of the present application, the cleaning robot includes a cleaning device. By adopting the above-mentioned cleaning device, the cleaning robot can be prevented from contaminating the surface to be cleaned that it has cleaned, the cleaning effect of the surface to be cleaned can be improved, and the user experience can be improved.

[0205] According to some embodiments of the present application, the cleaning robot also includes a sensor, which can control the operation of the cleaning device. For example, the sensor can obtain material information of the surface to be cleaned and control the activity of the driving component based on the material information to drive the cleaning component to rise and fall.

[0206] As shown in Figures 12 to 33, the cleaning robot according to an embodiment of the present application includes: a main body 10, a cleaning component and a driving component. The main body 10 can be the main body of the cleaning robot and can be called a mounting bracket. Specifically, the main body 10 can be the base of the cleaning robot.

[0207] The cleaning component is arranged on the main body 10, and the cleaning component can rise or fall relative to the main body 10, wherein the cleaning component can contact the surface to be cleaned under the action of gravity, which is conducive to cleaning the surface to be cleaned, and during the activity of the cleaning robot, the cleaning component can rise or fall with the height change of the surface to be cleaned, which is conducive to the movement of the cleaning robot between surfaces to be cleaned at different heights, and can improve the stability of the contact between the cleaning component and the surface to be cleaned, which is conducive to improving the cleaning effect of the surface to be cleaned.

[0208] The cleaning assembly includes a main body and a lifting member 32. The lifting member 32 protrudes from the main body and is connected to the main body. A slot can be formed between the lifting member 32 and the main body. The driving assembly is arranged on the main body 10. The driving assembly includes a driving member 51 and a rotating member 52. The driving member 51 can drive the rotating member 52 to rotate. The rotating member 52 has a protrusion 521 extending along its rotation axis (the left and right directions as shown in Figure 17). At least a part of the protrusion 521 can be inserted into the slot, and the protrusion 521 can cooperate with the lifting member 32. For example, the protrusion 521 abuts against the lifting member 32, and then the driving member 51 can drive the rotating member 52 to rotate, so as to drive the lifting member 32 to rise and fall through the protrusion 521, thereby driving the entire cleaning assembly to rise or fall; wherein, the lifting member 32 can be a lifting top plate, a lifting top rod or a lifting top plate, etc.

[0209] It can be understood that the driving member 51 drives the cleaning component to descend, so that the cleaning component can contact the surface to be cleaned, which is conducive to cleaning the surface to be cleaned. The driving member 51 drives the cleaning component to rise, so that the cleaning component can be out of contact with the surface to be cleaned, which can prevent the cleaning component from contaminating the surface to be cleaned it has cleaned, and can prevent the water in the cleaning component from soaking carpets and other items that need to be dried, thereby improving the cleaning effect of the surface to be cleaned and improving the user experience.

[0210] According to the cleaning robot of the embodiment of the present application, a liftable cleaning component is provided, and a driving member 51 is provided to drive the cleaning component to rise and fall, so that the driving member 51 can drive the cleaning component to descend so that the cleaning component contacts the surface to be cleaned, thereby cleaning the surface to be cleaned, and the driving member 51 can drive the cleaning component to rise so that the cleaning component is out of contact with the surface to be cleaned, thereby preventing the cleaning component from contaminating the surface to be cleaned that it has cleaned, and preventing water in the cleaning component from soaking carpets and other items that need to be dried, thereby improving the cleaning effect of the surface to be cleaned and improving the user experience.

[0211] As shown in Figures 12, 13, 18 and 19, according to some embodiments of the present application, the cleaning robot also includes a limiting component, which can limit the moving path of the cleaning component. The limiting component includes two connecting blocks 74 and at least one connecting rod 75. One connecting block 74 is connected to the main body 10, and the other connecting block 74 is connected to the cleaning component. The two ends of each connecting rod 75 (the front end and the rear end as shown in Figure 13) are respectively rotatably connected to the two connecting blocks 74, so that one connecting block 74 can rotate around the other connecting block 74 through the connecting rod 75, that is, the connecting block 74 on the cleaning component can rotate around the connecting block 74 on the main body 10 to realize the lifting and lowering of the cleaning component relative to the main body 10.

[0212] It should be noted that the outer sides (left and right sides as shown in Figure 12) of the ends (front and rear ends as shown in Figure 12) of the connecting rod 75 respectively have rotating shafts, and the connecting block 74 has an axial hole. The rotating shaft and the axial hole are plugged into each other to realize a rotatable connection between the connecting rod 75 and the connecting block 74.

[0213] Among them, the number of connecting rods 75 can be one, which is beneficial to reducing the production cost of the limiting component and improving the flexibility of the cleaning component in lifting and lowering; the number of connecting rods 75 can also be two, and the two connecting rods 75 are parallel to each other, and then when one connecting block 74 rotates around another connecting block 74, the connecting block 74 itself always maintains a fixed posture, so that the cleaning component can maintain a fixed posture during the lifting process, preventing the cleaning component from tilting forward or backward during the lifting process, and improving the lifting stability of the cleaning component; of course, the number of connecting rods 75 can be more, for example, the number of connecting rods 75 is four, and the four connecting rods 75 are parallel to each other, which can further improve the lifting stability of the cleaning component.

[0214] In some examples, the number of limiting components can be one, and in the extension direction of the cleaning component (the left and right direction as shown in Figure 12), the limiting component can be located in the middle of the cleaning component, so that the entire cleaning component is symmetrically arranged with the vertical plane where the connecting rod 75 is located as the symmetry plane, so that the center of gravity of the entire cleaning component is located on the vertical plane where the connecting rod 75 is located, which can prevent the cleaning component from tilting during lifting and lowering, thereby improving the stability of the lifting and lowering of the cleaning component.

[0215] Of course, as shown in Figure 12, the number of limit assemblies can also be multiple. For example, the number of limit assemblies is two, and the two limit assemblies are relatively arranged on both sides of the cleaning assembly (the left and right sides as shown in Figure 12). This can reduce the probability of the cleaning assembly tilting to the left or right when lifting, and can reduce the probability of the cleaning assembly shaking when lifting, and can improve the stability of the lifting of the cleaning assembly.

[0216] As shown in Figure 13, in some examples, the connecting block 74 can be snap-fitted with the main body 10. For example, the connecting block 74 can be provided with a snap-fitting protrusion, and the main body 10 can be provided with a snap-fitting slot. The snap-fitting of the snap-fitting protrusion and the snap-fitting slot can realize the connection between the connecting block 74 and the main body 10, and the connection effect is good and it is easy to load and unload.

[0217] As shown in Figure 13, in some examples, the connecting block 74 can be snap-fitted with the cleaning component. For example, the connecting block 74 can be provided with a snap-fitting protrusion, and the cleaning component can be provided with a snap-fitting slot. The snap-fitting of the snap-fitting protrusion and the snap-fitting slot can realize the connection between the connecting block 74 and the cleaning component, and the connection effect is good and it is easy to load and unload.

[0218] As shown in Figures 12, 18 and 19, in some examples, the connecting rod 75 includes multiple, multiple connecting rods 75 are arranged in parallel, that is, each limiting component can have multiple connecting rods 75 respectively, and the multiple connecting rods 75 are parallel to each other, so that the connecting block 74 on the cleaning component can rotate around the connecting block 74 on the main body 10 in a fixed posture, which can prevent the cleaning component from tilting forward or backward during lifting, improve the stability of the lifting of the cleaning component, and reduce the probability of the cleaning component interfering with other components in the cleaning robot due to changes in its own posture, thereby improving the reliability of the lifting of the cleaning component.

[0219] As shown in Figures 17, 18, 20 and 24, according to some embodiments of the present application, the rotating member 52 includes a rotating body 522 and a protrusion 521. The rotating body 522 is connected to the driving member 51, and the rotating body 522 can rotate around the output shaft of the driving member 51. The protrusion 521 is located on the side of the rotating body 522 away from the driving member 51 (the left side as shown in Figure 17), and the protrusion 521 is located on the radial side of the output shaft of the driving member 51, that is, the protrusion 521 is located on the outside of the output shaft of the driving member 51, and the protrusion 521 can be inserted into the slot, so that the protrusion 521 can abut against the lifting member 32, and can prevent the rotating body 522 from interfering with the lifting member 32, and can improve the reliability of the cooperation between the protrusion 521 and the lifting member 32.

[0220] Thus, the driving member 51 can drive the rotating body 522 to drive the protrusion 521 to rotate around the output shaft of the driving member 51. Specifically, the protrusion 521 can rotate upward to lift the lifting member 32, thereby realizing the rising of the cleaning component, and the protrusion 521 can rotate downward. Based on the protrusion 521 abutting against the lifting member 32 to support the lifting member 32, the lifting member 32 can automatically fall under the action of gravity, thereby realizing the descent of the cleaning component.

[0221] As shown in Figures 17, 20 and 24, in some examples, the rotating member 52 also includes a linkage member 523, which is arranged on the side of the protrusion 521 away from the rotating body 522 (the left side as shown in Figure 17), and the main body 10 has a second limiting sleeve 19. At least a portion of the linkage member 523 can be inserted into the second limiting sleeve 19, and the linkage member 523 and the second limiting sleeve 19 can be rotatably matched. On the basis that the driving member 51 can drive the rotating member 52 to rotate, the end of the rotating member 52 (such as the linkage member 523) can be supported, which is beneficial to improve the stability of the rotation of the rotating member 52.

[0222] As shown in Figures 20 and 24, in some examples, the main body 10 further has a fixed sleeve 105, at least a portion of the driving member 51 can be inserted into the fixed sleeve 105, and the output shaft of the driving member 51 can pass through the fixed sleeve 105 to be connected to the rotating body 522. On the basis that the driving member 51 can drive the rotating member 52 to rotate, the end of the rotating member 52 (for example, the rotating body 522) can be supported, which is beneficial to improving the stability of the rotation of the rotating member 52, wherein the driving member 51 can be a driving motor.

[0223] In some examples, the linkage member 523 and the protrusion 521 can be an integrally formed part. On the one hand, the structural strength of the rotating member 52 can be improved and the service life of the rotating member 52 can be increased. On the other hand, it is convenient for loading and unloading the rotating member 52. The rotating body 522 can be removed first, and the rotating body 522 can be installed after the protrusion 521 is inserted into the slot, which is convenient for assembly. Of course, the linkage member 523, the protrusion 521 and the rotating body 522 can be an integrally formed part, which can further improve the structural strength of the rotating member 52 and facilitate maintenance.

[0224] As shown in Figure 19, in some examples, the driving member 51 can drive the protrusion 521 of the rotating member 52 to rotate upward, and when the protrusion 521 rotates to the highest position, the protrusion 521 is located directly above the rotation axis of the output shaft of the driving member 51, that is, the center of gravity of the rotating member 52 is located on the vertical plane where the output shaft of the driving member 51 is located. At this time, the entire cleaning assembly is pressed against the protrusion 521 through the lifting member 32, and the gravity of the entire rotating member 52 acts on the output shaft of the driving member 51, which can prevent the protrusion 521 from automatically rotating downward under the action of external force. In this way, the entire cleaning assembly can be limited to prevent the cleaning assembly from automatically descending after rising to the highest position, which can improve the reliability of the product and the user experience.

[0225] According to other embodiments of the present application, the rotating member 52 includes a crank, one end of which is connected to the driving member 51, and the crank can rotate around the output shaft of the driving member 51, and the crank can be extended into the slot, thereby, the driving member 51 can drive the crank to rotate around the output shaft of the driving member 51. Specifically, the crank can be rotated upward to lift the lifting member 32, thereby realizing the ascent of the cleaning component, and the crank can be rotated downward. Based on the abutment between the crank and the lifting member 32 to support the lifting member 32, the lifting member 32 can be automatically dropped under the action of gravity, thereby realizing the descent of the cleaning component.

[0226] According to some other embodiments of the present application, the rotating member 52 includes a cam, which is connected to the driving member 51, and the cam can rotate around the output shaft of the driving member 51. The cam can be inserted into the slot, so that the driving member 51 can drive the cam to rotate around the output shaft of the driving member 51. Specifically, the flange of the cam can be rotated upward to lift the lifting member 32, thereby realizing the rising of the cleaning component, and the flange of the cam can be rotated downward. Based on the abutment between the cam and the lifting member 32 to support the lifting member 32, the lifting member 32 can automatically fall under the action of gravity, thereby realizing the descent of the cleaning component.

[0227] As shown in Figure 17, in some examples, the length of the lifting member 32 in the extension direction of the rotation axis of the crank (the left and right directions as shown in Figure 17) is L. If L is too small, the two ends of the entire cleaning component (the left end or the right end as shown in Figure 17) are prone to warping, that is, the cleaning component is prone to tilt to the left or right when lifting. Therefore, L can be limited to a range greater than or equal to 2mm, that is, L can be any point value of 2mm, 3mm, 4mm, 5mm or 6mm or a range value greater than any point value, which can prevent the cleaning component from tilting during lifting and lowering, and can prevent the cleaning component from shaking during lifting and lowering, which can improve the stability of the cleaning component lifting and lowering. Furthermore, it can prevent the cleaning component from interfering with other components in the cleaning robot due to tilting, and can improve the reliability of the cleaning component lifting and lowering.

[0228] As shown in Figures 12 and 20, according to some embodiments of the present application, the main body includes: a lifting plate 311, a cleaning member bracket 312 and a cleaning member 313. The lifting member 32 is arranged on the lifting plate 311, and the lifting member 32 can be connected to the lifting plate 311 by fasteners, so that the lifting of the lifting member 32 can drive the lifting plate 311 to rise and fall; the cleaning member bracket 312 is arranged at the lower part of the lifting plate 311, and the cleaning member bracket 312 can be connected to the lifting plate 311, the cleaning member bracket 312 defines a cleaning member cavity with one side open, the cleaning member 313 is arranged in the cleaning member cavity, and the cleaning member 313 is rotatably connected to the cleaning member bracket 312, so that the lifting of the lifting plate 311 can drive the cleaning member bracket 312 and the cleaning member 313 to rise and fall, thereby realizing the lifting and lowering of the entire cleaning robot; wherein, the fasteners can be screws or bolts, etc., with good fastening effect and easy operation.

[0229] It can be understood that a drive motor is provided in the cleaning robot for driving the cleaning member 313 to rotate, and after the cleaning assembly descends until the cleaning member 313 contacts the surface to be cleaned, the drive motor in the cleaning robot can drive the cleaning member 313 to rotate relative to the surface to be cleaned to achieve cleaning of the surface to be cleaned.

[0230] It should be noted that the cleaning member 313 may be a cleaning member-type mop (as shown in FIG17 ) or a crawler-type mop (not shown in the figure), etc.

[0231] As shown in Figures 12 and 23, in some examples, both ends of the lifting member 32 (the front and rear ends as shown in Figure 12) are respectively provided with mounting holes, and fasteners pass through the mounting holes and the lifting plate 311 to fix the lifting member 32 on the lifting plate 311, which can prevent the lifting member 32 from tilting during lifting, which is beneficial to improving the stability of the lifting plate 30 when lifting.

[0232] The portion of the lifting member 32 located between the two mounting holes is recessed toward the side away from the protrusion 521 (the upper side as shown in FIG13 ) to form a groove on the side of the lifting member 32 facing the protrusion 521 (the lower side as shown in FIG13 ) to accommodate the protrusion 521. On the one hand, the driving member 51 can control the protrusion 521 to rotate to a suitable angle to drive the lifting member 32 to drive the lifting plate 311 to move up and down. On the other hand, when the protrusion 521 rotates to the highest position, the protrusion 521 can abut against the side wall of the groove of the lifting member 32, which can improve the stability of the protrusion 521 at the highest position, reduce the probability of the protrusion 521 automatically falling without external force, and improve the reliability of the product.

[0233] As shown in Figures 2, 3 and 8, in some examples, the main body 10 can be provided with a first connecting member 16, and the lifting plate 311 can be provided with a second connecting member 3111. The first connecting member 16 and the second connecting member 3111 can respectively define connecting grooves, and the side walls of the connecting grooves are provided with card grooves. The connecting block 74 can have a card protrusion. After the connecting block 74 is extended into the connecting groove, the card protrusion can be engaged with the card slot, so that one connecting block 74 can be connected to the first connecting member 16, and the other connecting block 74 can be connected to the second connecting member 3111.

[0234] Therefore, the rotating shaft on one side of the connecting rod 75 is first inserted into the shaft hole of the connecting block 74, and then the entire connecting block 74 is pushed into the connecting groove to realize the installation of the limit assembly. The limit assembly can be disassembled by simply removing the connecting block 74 from the connecting groove, which is convenient for operation.

[0235] It can be understood that the connecting groove can be a special-shaped groove, that is, the shape of a part of the connecting groove matches the shape of the connecting block 74, and this part is used to accommodate the end of the connecting rod 75 and the connecting block 74, and the shape of the other part of the connecting groove matches the shape of the rotating shaft located at the end of the connecting rod 75, and this part is used to accommodate the rotating shaft located on the side of the connecting rod 75 away from the connecting block 74. Taking the connecting piece on the left side of Figure 12 as an example, the right part of the connecting groove in the connecting piece is used to accommodate the end of the connecting rod 75 (the front end or rear end as shown in Figure 12) and the connecting block 74, and the left part of the connecting groove is used to accommodate the rotating shaft located on the left side of the connecting rod 75, which can realize the limitation of the rotating shaft, which is beneficial to improve the stability of the connection between the connecting rod 75 and the connecting piece, and improve the reliability of the installation of the limiting assembly.

[0236] As shown in Figures 21, 28 and 31, according to some embodiments of the present application, the cleaning robot also includes: a second elastic member 76, which cooperates with the main body 10 and the cleaning component respectively. The second elastic member 76 can apply a downward elastic force (from top to bottom as shown in Figure 20) to the cleaning component. On the one hand, it can prevent the cleaning component from being unable to move normally due to interference with other components in the cleaning robot, and can prevent the cleaning component from being unable to move normally due to the entry of debris into the cleaning robot, and can improve the reliability of the lifting of the cleaning component. On the other hand, it can increase the force of the cleaning member 313 on the surface to be cleaned, and when the cleaning robot moves on the uneven surface to be cleaned, the cleaning member 313 can be lifted up by the surface to be cleaned or automatically fall down, which is conducive to ensuring the contact area between the cleaning member 313 and the surface to be cleaned, and can improve the cleaning effect of the surface to be cleaned.

[0237] Among them, when the cleaning robot moves on the flat surface to be cleaned, and when the cleaning member 313 contacts the surface to be cleaned, the second elastic member 76 can apply a downward elastic force to the cleaning component, which can increase the force of the cleaning member 313 on the surface to be cleaned, and the cleaning member 313 is provided with a mop, thereby increasing the friction between the mop and the surface to be cleaned, and the contact area between the mop and the surface to be cleaned can be increased, thereby improving the cleaning effect of the surface to be cleaned.

[0238] In some examples, the number of second elastic members 76 can be multiple, which can increase the downward elastic force applied by the second elastic member 76 to the cleaning assembly, increase the force of the cleaning member 313 on the surface to be cleaned, and improve the cleaning effect of the surface to be cleaned.

[0239] As shown in Figures 20-22, in some examples, the second elastic member 76 can be a spring, and the main body can have a first limiting portion 3112. For example, the first limiting portion 3112 can be set on the lifting plate 311, and the main body 10 has a second limiting portion 17. The two ends of the spring (the upper end and the lower end as shown in Figure 21) respectively cooperate with the first limiting portion 3112 and the second limiting portion 17.

[0240] Among them, the first limiting part 3112 can be a limiting column, the second limiting part 17 can be a limiting groove, the lower end of the spring is sleeved on the limiting column and presses the lifting plate 311, and the upper end of the spring extends into the limiting groove and presses the bottom wall of the limiting groove, which can apply a downward elastic force (from top to bottom as shown in Figure 20) to the entire cleaning component, thereby increasing the force of the cleaning part 313 on the surface to be cleaned and improving the cleaning effect of the surface to be cleaned, or, the first limiting part 3112 can be a limiting groove, and the second limiting part 17 can be a limiting column; of course, the first limiting part 3112 and the second limiting part 17 can be limiting grooves respectively, or the first limiting part 3112 and the second limiting part 17 can be limiting columns respectively.

[0241] As shown in Figures 27 to 29, in other examples, the second elastic member 76 can be a torsion spring, and the main body can be provided with a fixed shaft 3113. For example, a fixing member 3114 is provided on the lifting plate 311, and the fixing member 3114 has a fixing hole. The fixed shaft 3113 can be provided on the lifting plate 311, and the fixed shaft 3113 can be plugged into the fixing hole to realize the connection between the fixed shaft 3113 and the lifting plate 311. The torsion spring is sleeved on the fixed shaft 3113, and one end of the torsion spring can press the main body (for example, the lifting plate 311), and the other end of the torsion spring can press the main body 10, thereby applying a downward elastic force (from top to bottom as shown in Figure 28) to the entire cleaning component, thereby increasing the force of the cleaning member 313 on the surface to be cleaned, and improving the cleaning effect of the surface to be cleaned.

[0242] In addition, the fixing part 3114 can also be set on the main body 10, or the main body 10 and the lifting plate 311 can be respectively provided with fixing parts 3114, so that the two ends of the fixed shaft 3113 are respectively connected to the fixing part 3114 on the main body 10 and the fixing part 3114 on the lifting plate 311, which can improve the reliability of the connection between the main body 10 and the lifting plate 311, and is conducive to improving the stability of the lifting and lowering of the cleaning component.

[0243] As shown in Figures 30 to 33, in some other examples, the second elastic member 76 can be a tension spring, the cleaning member bracket 312 is provided with a first connecting hook 3121, and the main body 10 is provided with a second connecting hook 18. When the cleaning assembly drops to the lowest point, that is, when the cleaning member 313 abuts against the member to be cleaned, the height of the first connecting hook 3121 is higher than the height of the second connecting hook 18, and one end of the tension spring (the upper end as shown in Figure 32) is hooked on the first connecting hook 3121, and the other end of the tension spring (the lower end as shown in Figure 32) is hooked on the second connecting hook 18, which can apply a downward elastic force (from top to bottom as shown in Figure 30) to the entire cleaning assembly, thereby increasing the force of the cleaning member 313 on the surface to be cleaned and improving the cleaning effect of the surface to be cleaned.

[0244] As shown in Figures 12, 14, 22 and 25, according to some embodiments of the present application, the main body 10 has a limiting hole, the cleaning component has a first limiting member 33, one end of the first limiting member 33 is connected to the main body, for example, one end of the first limiting member 33 (the lower end as shown in Figure 14) is connected to the lifting plate 311, and the other end of the first limiting member 33 (the upper end as shown in Figure 14) is passed through the limiting hole, and the upper end of the first limiting member 33 has a limiting end surface 33a extending into the upper surface of the main body 10, so that the limiting end surface 33a can abut against the upper surface of the main body 10.

[0245] Among them, the first limiting member 33 can move relative to the limiting hole, and the first limiting member 33 limits the downward movement of the main body when the limiting end face 33a abuts against the upper surface of the main body 10, which can prevent the cleaning component from being separated from the cleaning robot, thereby achieving the limitation of the cleaning component and improving the reliability of the lifting and lowering of the cleaning component; the first limiting member 33 can be a convex shoulder limiting bolt, which facilitates the threaded connection between the first limiting member 33 and the lifting plate 311, and facilitates the first limiting member 33 to abut against the main body 10 after the lifting plate 311 moves downward.

[0246] In addition, the number of first limit members 33 can be one, and the first limit member 33 is connected to the middle part of the lifting plate 311, which can reduce costs on the basis of ensuring the stability of the lifting of the cleaning component; the number of first limit members 33 can be multiple, for example, the number of first limit members 33 is two, and the two first limit members 33 are respectively arranged on the opposite sides of the lifting plate 311 (the left and right sides as shown in Figure 12), and the two first limit members 33 are arranged relative to each other, which can reduce the probability of the lifting plate 311 shaking during lifting, thereby improving the stability of the lifting of the cleaning component; of course, the number of first limit members 33 can be more, which can further improve the stability of the lifting of the cleaning component.

[0247] As shown in Figures 15, 16 and 26, according to some embodiments of the present application, the cleaning robot also includes: at least one driving switch, the driving switch is arranged on the main body 10, the main body has at least one switch part, the switch part can be arranged on the lifting plate 311, and each switch part corresponds to a driving switch, thereby, the driving switch can control the driving member 51 to stop working when the switch part cooperates with it, which can prevent the cleaning component from being disengaged from the cleaning robot due to excessive activity, can improve the reliability of the lifting and lowering of the cleaning component, and is easy to operate, which can enhance the intelligence of the cleaning robot.

[0248] As shown in Figures 14, 15, 16 and 26, in some examples, the drive switch includes a first drive switch 771 and a second drive switch 772, and the first drive switch 771 and the second drive switch 772 are respectively arranged on the main body 10, and the first drive switch 771 is located on the upper side of the lifting plate 311 (the upper side as shown in Figure 14), and the second drive switch 772 is located on the lower side of the lifting plate 311 (the lower side as shown in Figure 14), and the switch part includes a first switch part 3141 and a second switch part 3142, the first switch part 3141 is arranged on the upper surface of the lifting plate 311, and the first switch part 3141 corresponds to the position of the first drive switch 771, and the second switch part 3142 is arranged on the outer side of the lifting plate 311 (for example, the left side as shown in Figure 14), and the second switch part 3142 corresponds to the position of the second drive switch 772.

[0249] Among them, the first drive switch 771 and the second drive switch 772 can be touch switches, the first switch part 3141 can be an upwardly extending boss, so that the first switch part 3141 can trigger the first drive switch 771, and the second switch part 3142 can be a downwardly extending contact arm, so that the second switch part 3142 can trigger the second drive switch 772. Thus, when the driving member 51 controls the cleaning component to rise to the highest position, the first switch part 3141 can conflict with the first drive switch 771 to trigger the first drive switch 771 to control the driving member 51 to stop working, so as to limit the rising height of the cleaning component. When the driving member 51 controls the cleaning component to descend to the lowest position, the second switch part 3142 can conflict with the second drive switch 772 to trigger the second drive switch 772 to control the driving member 51 to stop working, so as to limit the descending height of the cleaning component.

[0250] In addition, the driving switch can also be a photoelectric switch, which can improve the sensitivity of the lifting and lowering control of the cleaning component, and can improve the accuracy of the lifting and lowering control of the cleaning component, thereby improving the user experience.

[0251] A specific embodiment of the present application is described below with reference to Figures 12 to 26. The cleaning robot includes a main body 10, a cleaning component, a limiting component, a driving component and a spring. The main body 10 has a first driving switch 771, a second driving switch 772, a first connecting member 16, a limiting groove and a limiting hole. The cleaning component includes a lifting top plate, a lifting plate 311, a cleaning component bracket 312 and a cleaning component 313.

[0252] The lifting top plate is connected to the lifting plate 311 by screws, and the lifting top plate has a slot. The lifting plate 311 is located between the first drive switch 771 and the second drive switch 772. The upper surface of the lifting plate 311 has a boss opposite to the first drive switch 771, a second connecting member 3111, a second limiting sleeve 19, a fixing sleeve 105 and a limiting column. The edge of the lifting plate 311 has a contact arm opposite to the second drive switch 772. The cleaning member bracket 312 is connected to the lifting plate 311, and the cleaning member bracket 312 is located below the lifting plate 311. A cleaning member cavity with one side open is defined in the cleaning member bracket 312. The cleaning member 313 is located in the cleaning member cavity, and the cleaning member 313 is rotatably connected to the cleaning member bracket 312.

[0253] The limiting assembly includes two parallel connecting rods 75 and two connecting blocks 74. One end of the two connecting rods 75 is rotatably connected to one connecting block 74, and the other end of the two connecting rods 75 is rotatably connected to the other connecting block 74. The first connecting member 16 and the second connecting member 3111 respectively have connecting grooves, and the connecting block 74 can be extended into the connecting groove and clamped with the side wall of the connecting groove.

[0254] The driving assembly includes a driving motor and a rotating member 52. The driving motor is fixed in the fixed sleeve 105. The output shaft of the driving motor is connected to one end of the rotating member 52. The other end of the rotating member 52 is rotatably connected to the second limiting sleeve 19. The middle part of the rotating member 52 has a protrusion 521. The protrusion 521 protrudes to the outside of the output shaft of the driving motor. The protrusion 521 is located in the slot of the lifting top plate and abuts against the lower surface of the lifting top plate.

[0255] The spring is arranged between the lifting plate 311 and the main body 10. The lower end of the spring is sleeved on the limiting column and presses the lifting plate 311. The upper end of the spring extends into the limiting groove and presses the bottom wall of the limiting groove.

[0256] The cleaning robot also includes: a first limiting member 33, the lower end of the first limiting member 33 is threadedly connected to the lifting plate 311, the upper end of the first limiting member 33 passes through the limiting hole of the main body 10, and the upper end of the first limiting member 33 has a limiting end face 33a, and the limiting end face 33a can abut against the upper surface of the main body 10.

[0257] When the cleaning robot moves to the hard floor, the driving member 51 drives the rotating member 52 to drive the protrusion 521 to rotate downward, and the cleaning member 313 moves downward under the action of gravity until the contact arm triggers the second driving switch 772 to control the driving member 51 to stop working. At this time, the limiting end face 33a abuts against the upper surface of the main body 10, and the cleaning member 313 contacts the ground, which can achieve cleaning of the ground. At the same time, the elastic member 76 applies a downward elastic force to the cleaning member 313, which can improve the cleaning effect of the ground.

[0258] When the cleaning robot moves to its initial position or onto the carpet, the driving member 51 drives the rotating member 52 to drive the protrusion 521 to rotate upward until the boss triggers the first driving switch 771 to control the driving member 51 to stop working. At this time, there is a certain gap between the cleaning member 313 and the ground, which can prevent water on the cleaning member 313 from soaking the carpet or contaminating the ground cleaned by the cleaning member 313.

[0259] Another cleaning robot according to an embodiment of the present application is described below with reference to Figures 34 to 48. A cleaning robot is a cleaning device. In some embodiments of the present application, the cleaning robot is configured as a sweeping robot. A sweeping robot cleans the floor more thoroughly and is easy to move and store, making it convenient to use. It should be noted that the cleaning robot of the present application may also be other devices, for example, a vacuum cleaner, a floor scrubber robot, or a road cleaning machine, etc., which will not be described in detail here.

[0260] As shown in Figures 34 and 48, the cleaning robot according to an embodiment of the present application includes a main body 10, a bracket 80, a cleaning assembly 20, a driving assembly 30 and a pulley assembly 90.

[0261] The main body is the main body of the device. For example, the main body 10 can be disc-shaped, square disc-shaped or other suitable shapes. The bottom end of the main body 10 can be equipped with walking wheels, which are used to drive the cleaning robot to walk.

[0262] The bracket 80 is movably mounted on the main body 10. The bracket 80 has a lifting stroke. When the bracket 80 is raised to a first position, it is at the top of the lifting stroke and cannot be raised further. When the bracket 80 is lowered to a second position, it is at the bottom of the lifting stroke and cannot be lowered further. The bracket 80 may be provided with a mounting seat 81, and the mounting seat 81 may be provided with a mounting cavity 81a with a downward opening.

[0263] The cleaning component 20 can be arranged in the mounting cavity 81a of the mounting seat 81. The cleaning component 20 can be a roller, a roller brush, a crawler cloth, a cleaning nozzle or other suitable cleaning components. Taking the cleaning component 20 as a roller as an example, the cleaning component 20 can be horizontally installed at the bottom end of the main body 10, that is, the axial direction of the cleaning component 20 extends in the horizontal direction, and the cleaning component 20 can rotate around its own axis.

[0264] The driving assembly 30 can be arranged at a suitable position on the main body 10. The driving assembly 30 includes a driving mechanism 61 and a cable 62. The cable 62 can be a steel wire rope, a nylon rope or other suitable flexible ropes. Of course, the cable 62 can also be a chain.

[0265] It should be noted that the driving assembly can also be called a lifting assembly.

[0266] The pulley assembly 90 includes a first movable pulley 91, which is mounted on the bracket 80. The rotation axis of the first movable pulley 91 can extend along the water direction. The cable 62 is wound around the first movable pulley 91, for example, around the bottom end of the first movable pulley 91. One end of the cable 62 can be connected to the drive mechanism 61, and the other end of the cable 62 can be connected to the main body 10. The drive mechanism 61 controls the bracket 80 to rise and fall via the cable 62.

[0267] When the driving mechanism 61 is started, the driving mechanism 61 can control the bracket 80 to move up and down through the cable 62, thereby driving the cleaning assembly 20 to move up and down.

[0268] According to the cleaning robot of the embodiment of the present application, since the bracket 80 is provided with a first movable pulley 91, the end of the cable 62 away from the driving mechanism 61 is wound around the first movable pulley 91 and then connected to the main body 10, rather than being directly connected to the bracket 80. Therefore, the driving mechanism 61 only needs to bear half of the weight of the cleaning component 20 and the bracket 80 as a whole, and the other half of the weight is borne by the main body 10, thereby reducing the resistance experienced by the driving mechanism 61. In addition, the provision of the first movable pulley 91 can reduce the friction experienced by the cable 62, thereby further reducing the resistance experienced by the driving mechanism 61, thereby avoiding damage caused by excessive resistance experienced by the driving mechanism 61, and reducing the torque required to be output by the driving mechanism 61.

[0269] It should be noted that the number of the first movable pulleys 91 may be one or more. When there are multiple first movable pulleys 91 , the cable 62 may be wound around the multiple first movable pulleys 91 .

[0270] 36 , in some embodiments of the present application, the pulley assembly 90 further includes a second movable pulley 92 and a fixed pulley 93. The second movable pulley 92 is disposed on the bracket 80, and the fixed pulley 93 is disposed on the main body 10. The cable 62 is led out from the drive mechanism 61 and sequentially wound around the first movable pulley 91, the fixed pulley 93, and the second movable pulley 92. For example, the end of the cable 62 away from the drive mechanism 61 may be sequentially wound around the bottom end of the first movable pulley 91, the top end of the fixed pulley 93, and the bottom end of the second movable pulley 92 before being connected to the main body 10.

[0271] In this embodiment, the cable 62 can be divided into a first section and a second section. A first movable pulley 91 is carried on the first section. One end of the first section is connected to the drive mechanism 61, and the other end is wound around a fixed pulley 93 on the main body 10. A second movable pulley 92 is carried on the second section. One end of the second section is connected to the main body 10, and the other end is wound around the fixed pulley 93 on the main body 10 and connected to the first section. In this way, the combined weight of the bracket 80 and cleaning assembly 20 is borne by both ends of the first and second sections of the cable 62. Only the end of the first section connected to the drive mechanism 61 acts on the drive mechanism 61. The other end of the first section and both ends of the second section act directly or indirectly on the main body 10. As a result, the drive mechanism 61 only needs to bear one-quarter of the combined weight of the bracket 80 and cleaning assembly 20, significantly reducing the driving force required by the drive mechanism 61. This makes driving more convenient and less prone to damage.

[0272] It should be noted that the pulley assembly 90 can also be provided with more pulleys on the bracket 80 and the main body 10, which will not be described in detail here.

[0273] As shown in FIG36 , in a further embodiment of the present application, the second movable pulley 92 can be located above the first movable pulley 91, and the fixed pulley 93 can be located above the second movable pulley 92. In this way, the pulling force provided by the cable 62 to the first movable pulley 91 and the second movable pulley 92 is generally upward, while the overall gravity of the bracket 80 and the cleaning assembly 20 applied to the first movable pulley 91 and the second movable pulley 92 is downward. Therefore, according to the force balance condition, the pulling force required to be provided by the cable 62 is minimized, thereby reducing the driving force required to be provided by the driving mechanism 61. This not only makes driving more convenient but also makes it less prone to damage.

[0274] It should be noted that the first movable pulley 91 , the second movable pulley 92 and the fixed pulley 93 may also have other suitable positional relationships. For example, the first movable pulley 91 and the second movable pulley 92 may also be located below both sides of the fixed pulley 93 .

[0275] Referring to Figures 37 to 42, in some embodiments of the present application, the drive assembly 30 also includes a cable storage component 63, the drive mechanism 61 is provided with a rotatable second drive part 611, the cable storage component 63 is detachably connected to the second drive part 611 and is driven to rotate by the second drive part 611, the cable 62 is connected to and wound on the cable storage component 63, wherein, when the drive mechanism 61 drives the bracket 80 to rise from the second position to the first position and the drive mechanism 61 continues to run, the cable storage component 63 is separated from the second drive part 611.

[0276] For example, the cable storage member 63 can be disc-shaped and can rotate about its own axis. The outer wall of the cable storage member 63 can be provided with a winding groove 63a, and one end of the cable 62 is connected to the cable storage member 63 and arranged in the winding groove 63a. The cable storage member 63 is connected to the second driving portion 611. When the force applied by the cable 62 to the cable storage member 63 is too large, the cable storage member 63 separates from the second driving portion 611. When the driving mechanism 61 is activated, the driving mechanism 61 can drive the second driving portion 611 to rotate, and the second driving portion 611 can drive the cable storage member 63 to rotate synchronously, thereby allowing the cable 62 to be wound onto the cable storage member 63 or unwound from the cable storage member 63, thereby enabling the driving mechanism 61 to drive the bracket 80 and the cleaning assembly 20 to rise and fall.

[0277] In this embodiment, when the cleaning component 20 rises from the second position to the first position, that is, rises to the top of the stroke, it cannot continue to rise, and the cable 62 cannot continue to be reeled into the cable storage part 63. At this time, if an operational error or equipment failure occurs, causing the driving mechanism 61 to continue to operate, the force applied by the cable 62 to the cable storage part 63 will be greatly increased, and the interaction force between the cable storage part 63 and the second driving part 611 will be greatly increased, which will cause the cable storage part 63 to separate from the second driving part 611. In this case, the driving mechanism 61 does not need to drive the cable storage part 63, cable 62, bracket 80 and cleaning component 20, but only drives the second driving part 611 to rotate, thereby significantly reducing the resistance encountered by the driving mechanism 61, thereby avoiding damage to the driving mechanism 61 due to excessive resistance.

[0278] It should be noted that the present application mentions that when the cleaning component 20 rises to the first position, the driving mechanism 61 continues to operate, which will greatly increase the force applied by the cable 62 to the cable storage member 63, which means that the bracket 80 has an upward trend, rather than driving the bracket 80 to descend.

[0279] It is understandable that the cable storage member 63 can be a reel, a reel or other suitable structure, as long as it can reel in the cable 62, which will not be described in detail here. There are many types of drive mechanism 61. For example, it can only include a motor 612, the output shaft of the motor 612 is directly coaxially connected to the second drive part 611, and the drive mechanism 61 directly controls the rotation of the second drive part 611. In addition, the drive mechanism 61 can also include a motor 612 and a reducer that is transmission-connected to the motor 612, and the drive mechanism 61 indirectly controls the rotation of the second drive part 611 through the reducer. The motor 612 can be a progressive motor, a servo motor or other suitable type of motor 612. When the drive mechanism 61 includes a motor 612, if the resistance applied to the motor 612 by the cable storage member 63 is too large, the motor 612 is prone to stalling, thereby causing damage to the motor 612. In addition, the motor 612 can also be replaced with a structure such as a rotary cylinder that can drive the second drive part 611 to rotate.

[0280] When a speed reducer is provided between the motor 612 and the second drive unit 611, the speed reducer can be provided as a structure as shown in Figures 35 and 36. Specifically, an outer ring gear is provided on the outer side wall of the second drive unit 611 along the circumferential direction, and the output shaft of the motor 612 is coaxially connected to the worm 613. The drive assembly 30 can further include a mounting portion 64, and the mounting portion 64 can rotatably mount a gear shaft 641. The gear shaft 641 is coaxially mounted with a worm wheel 614 that engages with the worm 613. The gear shaft 641 is also coaxially mounted with a transmission gear 615, which is engaged with the second drive unit 611. When the motor 612 is started, the motor 612 can drive the worm 613 to rotate, and the worm 613 thereby drives the worm wheel 614 to rotate. The worm wheel 614 can drive the transmission gear 615 to rotate through the gear shaft 641, and the transmission gear 615 thereby drives the second drive unit 611 to rotate.

[0281] Referring to Figures 37 to 42 , in some embodiments of the present application, the driving assembly 30 further includes a mounting portion 64 and a third elastic member 65 .

[0282] For example, the mounting portion 64 can be a box structure, and the mounting portion 64 has an inner cavity for installing the cable storage part 63, the second driving part 611 and the third elastic part 65. The mounting portion 64 can be provided with a hole for the cable 62 to pass through, and the outer wall of the mounting portion 64 can be provided with multiple connecting portions 643, and the connecting portions 643 are used to install fasteners between the main body 10.

[0283] The cable storage member 63 can be installed in the inner cavity of the installation portion 64 . The cable storage member 63 can move along its own axial direction. One or more protrusions 631 can be provided on the end surface of the cable storage member 63 close to the second driving portion 611 .

[0284] The second driving part 611 of the driving mechanism 61 can be installed in the inner cavity of the mounting part 64. The end face of the second driving part 611 close to the cable storage part 63 can be provided with one or more recesses 632. The protrusion 631 on the cable storage part 63 is engaged and clamped in the corresponding recess 632 on the second driving part 611, so that when the second driving part 611 rotates, it can drive the cable storage part 63 to rotate synchronously.

[0285] The third elastic member 65 can be mounted on the mounting portion 64 and located on a side of the cable receiving member 63 facing away from the second driving portion 611. The end of the third elastic member 65 closer to the cable receiving member 63 can elastically abut against the end of the cable receiving member 63 facing away from the second driving portion 611, and the end of the third elastic member 65 farther from the cable receiving member 63 can elastically abut against the inner wall of the mounting portion 64 or be directly connected to the mounting portion 64. The provision of the third elastic member 65 can apply elastic pressure to the cable receiving member 63, thereby maintaining the protrusion 631 in a state of being retained within the recess 632, thereby preventing the cable receiving member 63 from being separated from the second driving portion 611, thereby achieving a better effect of synchronously rotating the cable receiving member 63 with the second driving portion 611. When the cleaning component 20 rises to the first position, if an operational error or equipment failure occurs, causing the driving mechanism 61 to continue to run, the force applied by the cable 62 to the cable storage part 63 will be greatly increased. This force can offset the elastic pressure applied by the third elastic member 65 and the interaction force between the protrusion 631 and the recess 632, thereby enabling the protrusion 631 to slide out of the corresponding recess 632, thereby enabling the cable storage part 63 to be separated from the second driving part 611. The structure is simple, and the cable storage part 63 is very convenient and quick to separate from the second driving part 611, and it is also very convenient to connect the cable storage part 63 after separation from the second driving part 611.

[0286] It should be noted that the end surface of the second driving portion 611 close to the cable storage member 63 may be provided with a convex portion 631 , and the end surface of the cable storage member 63 close to the second driving portion 611 may be provided with a concave portion 632 . In addition, the cable storage member 63 and the second driving part 611 can also be connected in other ways. For example, the outer wall of one of the cable storage member 63 and the second driving part 611 can be provided with an external thread, and the other can be provided with a threaded hole. The cable storage member 63 and the second driving part 611 are threadedly connected through the matching threaded hole and the external thread. There can be a large friction resistance between the cable storage member 63 and the second driving part 611. When the circumferential force applied by the cable 62 to the cable storage member 63 is small, the cable storage member 63 and the second driving part 611 will not rotate relative to each other, and the second driving part 611 can drive the cable storage member 63 to rotate synchronously. When the circumferential force applied by the cable 62 to the cable storage member 63 is too large, that is, greater than the friction resistance between the cable storage member 63 and the second driving part 611, the cable storage member 63 and the second driving part 611 can rotate relative to each other, thereby separating the cable storage member 63 from the second driving part 611.

[0287] Referring to Figures 38 and 39, in some embodiments of the present application, the mounting portion 64 is provided with a mounting shaft 642, the cable storage member 63 is rotatably mounted on the outside of the mounting shaft 642 and can slide along the axial direction of the mounting shaft 642, and the second driving portion 611 is rotatably mounted on the mounting shaft 642.

[0288] For example, both ends of the mounting shaft 642 can be rotatably connected to the mounting portion 64. The cable storage member 63 is provided with a first set of holes and is mounted on the outside of the mounting shaft 642 through the first set of holes. The cable storage member 63 can rotate about the axis of the mounting shaft 642 and can slide along the axial direction of the mounting shaft 642. The second driving portion 611 can be provided with a second set of holes and is mounted on the outside of the mounting shaft 642 through the second set of holes. The second driving portion 611 does not slide along the axial direction of the mounting shaft 642. In this embodiment, the provision of the mounting shaft 642 allows both the rotational installation of the cable storage member 63 and the second driving portion 611 and the axial movement of the cable storage member 63, which is a clever design.

[0289] It should be noted that the second driving portion 611 may not be sleeved on the outside of the mounting shaft 642, but may be fixedly connected to the mounting shaft 642. In this case, the mounting shaft 642 may be configured to be rotatably mounted on the mounting portion 64. In addition, the mounting shaft 642 may not be provided, and the cable storage member 63 and the second driving portion 611 may be installed in other ways. For example, a mounting hole may be provided on the mounting portion 64, and the end of the cable storage member 63 away from the second driving portion 611 is fitted into the mounting hole. The outer wall of the end of the cable storage member 63 away from the second driving portion 611 is in contact with the inner wall of the mounting hole. The cable 62 is arranged around the outer wall of the end of the cable storage member 63 close to the second driving portion 611. The cable storage member 63 can rotate and slide along the axial direction of the mounting hole. In this case, the second driving portion 611 can be rotatably mounted on the mounting portion 64 via a single axis.

[0290] Referring to Figures 38 and 39 , in a further embodiment of the present application, the third elastic member 65 comprises a spring sleeved outside the mounting shaft 642. For example, one end of the spring can elastically abut the end surface of the cable receiving member 63 facing away from the second drive portion 611, while the other end of the spring can abut the inner wall of the mounting portion 64 or be directly connected to the mounting portion 64. In this embodiment, the third elastic member 65 is configured as a spring, which has high structural strength, long service life, and good elasticity, thereby providing a better elastic abutment effect on the cable receiving member 63. Furthermore, the spring can be installed simply by sleeved outside the mounting shaft 642, making installation convenient.

[0291] It should be noted that the third elastic member 65 can also be other structures, for example, it can be an elastic rubber block or a metal spring, and it only needs to be able to elastically abut the end face of the cable storage member 63 that is away from the second driving part 611, so that the protrusion 631 can remain in a state of being clamped in the recess 632.

[0292] As shown in Figures 40 and 41 , in some embodiments of the present application, a plurality of recesses 632 are provided and are evenly arranged along the circumference of the mounting axis 642, and a plurality of protrusions 631 are provided to correspond to the recesses 632 and are evenly arranged along the circumference of the mounting axis 642. For example, there may be six recesses 632, all evenly arranged along the circumference of the mounting axis 642, and six protrusions 631, all evenly arranged along the circumference of the mounting axis 642. In this embodiment, such an arrangement not only strengthens the connection between the cable storage member 63 and the second driving portion 611, thereby ensuring smoother rotation of the cable storage member 63 by the second driving portion 611, but also, when one protrusion 631 is aligned with one recess 632, the other protrusions 631 also align with the corresponding recesses 632, thereby facilitating the engagement of all protrusions 631 with their corresponding recesses 632.

[0293] It is understandable that the number of the concave portions 632 and the convex portions 631 may be other appropriate numbers, for example, three, four or five.

[0294] With reference to Figures 40 and 41 , in some embodiments of the present application, the surface of the recessed portion 632 is configured as an inwardly concave spherical surface or arc surface, and the surface of the convex portion 631 is configured as an outwardly convex spherical surface or arc surface. For example, when the surface of the recessed portion 632 is configured as an inwardly concave spherical surface, the surface of the convex portion 631 is configured as an outwardly convex spherical surface; and when the surface of the recessed portion 632 is configured as an inwardly concave arc surface, the surface of the convex portion 631 is configured as an outwardly convex arc surface. In this embodiment, such a configuration allows the convex portion 631 to slide into or out of the recessed portion 632 more smoothly, thus preventing the convex portion 631 from becoming stuck.

[0295] Referring to Figures 37, 38, and 42, in some embodiments of the present application, a protective sleeve 621 is provided over the cable 62. The protective sleeve 621 not only protects the cable 62 from being exposed and damaged, but also reduces friction between the cable 62 and the protective sleeve 621, thereby reducing wear on the cable 62 and the wear on other components of the cleaning robot caused by the cable 62. Furthermore, the cable 62 moves more smoothly, preventing it from getting stuck.

[0296] Referring to Figures 35, 37, 38, 40, and 42, in some embodiments of the present application, a clamping block 622 is provided at each end of the cable 62, the cable storage member 63 is provided with a first clamping slot 63b, and the main body 10 is provided with a second clamping slot 10b. One clamping block 622 is clamped in the first clamping slot 63b, and the other clamping block 622 is clamped in the second clamping slot 10b. In this embodiment, such a configuration not only facilitates the installation of the cable 62, but also facilitates the replacement of the cable 62 when it is damaged.

[0297] 35 and 48 , in some embodiments of the present application, the main body 10 is provided with a swing frame 40 that is rotatable relative to the main body 10. The rotation axis between the swing frame 40 and the main body 10 extends horizontally, and the bracket 80 is connected to the swing frame 40. The swing of the swing frame 40 facilitates the cable 62 to drive the bracket 80 up and down. In addition, because the cable 62 is a flexible member, when the cleaning component 20 passes over an uneven ground surface or an obstacle, it is subjected to the force exerted by the uneven ground surface or the obstacle, and the bracket 80 can also passively float along the height direction of the main body 10 as the swing frame 40 swings, thereby enabling the cleaning component 20 to pass smoothly over the uneven ground surface or the obstacle, thereby improving the cleaning effect and efficiency.

[0298] Referring to Figures 35 and 48, in a further embodiment of the present application, the swing frame 40 includes a plurality of swing rods 401 rotatably connected to the main body 10 and parallel to each other, the rotation axes between all the swing rods 401 and the main body 10 extend in the horizontal direction and are coplanar, and the bracket 80 is connected to the end of all the swing rods 401 away from the main body 10.

[0299] For example, the lengths of all the swing rods 401 can be equal, and the number of the swing rods 401 can be two, four, six, eight or other suitable numbers. A first mounting block can be provided on the main body 10 corresponding to the swing rod 401, and a second mounting block can be provided on the bracket 80 corresponding to the swing rod 401. One end of the swing rod 401 is installed on the first mounting block, and the other end is installed on the second mounting block.

[0300] In this embodiment, the rotation axes between all the swing arms 401 and the main body 10 extend in the horizontal direction and are coplanar, so that all the swing arms 401 can swing synchronously, thereby driving the bracket 80 to float along the height direction of the main body 10. The structure is simple, and the swing frame 40 has a high structural strength. In addition, the installation of the bracket 80 is more stable.

[0301] It should be noted that in some other embodiments of the present application, the swing frame 40 may also be other structures. For example, it may be an integral structure. The swing frame 40 is rotatably connected to the main body 10 through a rotating shaft, and the rotating shaft may extend in the horizontal direction.

[0302] Referring to Figures 35 and 48, in a further embodiment of the present application, there are at least two groups of swing rods 401 distributed side by side, and each group of swing rods 401 has at least two swing rods 401 arranged along the height direction of the main body 10. All swing rods 401 are rotatably connected to the bracket 80, and the rotation axes between all swing rods 401 and the bracket 80 extend in the horizontal direction and are coplanar.

[0303] For example, there may be two groups of swing rods 401 distributed side by side, and the two groups of swing rods 401 may be arranged along the extension direction of the rotation axis between the swing rod 401 and the main body 10. The two groups of swing rods 401 are respectively located on both sides of the bracket 80. Each group of swing rods 401 may include two swing rods 401 arranged vertically. The two swing rods 401 in the same group, the corresponding first mounting blocks and the corresponding second mounting blocks constitute a parallel four-bar linkage mechanism, and the rotation axis between the swing rod 401 and the bracket 80 is parallel to the rotation axis between the swing rod 401 and the main body 10.

[0304] In this embodiment, the same group of swing rods 401 are arranged vertically, and the rotation axes between all the swing rods 401 and the bracket 80 extend in the horizontal direction and are coplanar, so that during the swinging process of the swinging frame 40, the angle of the bracket 80 relative to the horizontal plane can remain unchanged without deflecting relative to the horizontal plane, so that the mounting cavity 81a of the mounting seat 81 can always face downward, so that when cleaning the cleaning component 20, it is convenient to discharge dirty water and garbage on the cleaning component 20. In addition, it can also prevent the bracket 80 from deflecting relative to the horizontal plane and interfering with the ground or obstacles, thereby avoiding affecting the movement of the cleaning robot and avoiding damage to the bracket 80, the ground or obstacles.

[0305] It should be noted that the swing rods 401 can also be distributed side by side in three, four, five or other appropriate groups, and each group of swing rods 401 can be arranged vertically in three, four, five or other appropriate numbers.

[0306] Referring to Figures 34 and 45 to 47, in some embodiments of the present application, the main body 10 or the bracket 80 is provided with a first switch 821 connected to the drive mechanism 61, and the first switch 821 is configured to operate when the bracket 80 descends to the second position to stop the drive mechanism 61; the main body 10 or the bracket 80 is provided with a second switch 822 connected to the drive mechanism 61, and the second switch 822 is configured to operate when the bracket 80 rises to the first position to stop the drive mechanism 61.

[0307] For example, the first switch 821 and the second switch 822 can both be provided on the main body 10. When the driving mechanism 61 is provided with a motor 612, the first switch 821 and the second switch 822 are both electrically connected or communicatively connected to the motor 612. The first switch 821 and the second switch 822 can both be contact switches. The bracket 80 is provided with a first contact portion 801 and a second contact portion 802 corresponding to the first switch 821 and the second switch 822, respectively. The second position and the first position are the bottom end and the top end of the lifting stroke of the bracket 80. When the bracket 80 descends to the second position, the first contact portion 801 contacts the first switch 821, and the first switch 821 works to stop the motor 612 of the drive mechanism 61, thereby preventing the drive mechanism 61 from being still running and causing the drive mechanism 61 to be blocked and damaged when the bracket 80 cannot continue to descend. When the bracket 80 rises to the first position, the second contact portion 802 contacts the second switch 822, and the second switch 822 works to stop the motor 612 of the drive mechanism 61, thereby preventing the drive mechanism 61 from being still running and causing the drive mechanism 61 to be damaged when the bracket 80 cannot continue to rise.

[0308] It should be noted that the first switch 821 and the second switch 822 can also be set on the bracket 80. The first switch 821 and the second switch 822 can also be other switch structures, for example, they can be infrared sensor switches or optical coupler sensor switches. When the bracket 80 is raised or lowered to the first position or the second position, the first switch 821 and the second switch 822 can directly sense and send signals. After the controller that controls the operation of the drive mechanism 61 receives the signals, it controls the drive mechanism 61 to stop operating.

[0309] As shown in reference Figure 44, in some embodiments of the present application, the main body 10 is provided with a plurality of clearance holes 0a passing through the upper and lower parts, and the bracket 80 is correspondingly provided with a plurality of second limiting members 83. The second limiting members 83 extend upward to pass through the clearance holes 0a, and the outer wall of the top of the second limiting member 83 is provided with a flange 261. When the bracket 80 descends to the second position, the bottom surface of the flange 261 abuts against the main body 10, thereby preventing the bracket 80 from continuing to descend.

[0310] It should be noted that a number of upper and lower clearance holes 0a can be set on the bracket 80, and a number of second limiting members 83 can be correspondingly set on the main body 10. The second limiting members 83 extend downward to pass through the clearance holes 0a, and the outer wall of the bottom end of the second limiting member 83 is provided with a flange 261. When the bracket 80 descends to the second position, the top surface of the flange 261 abuts against the bracket 80, thereby preventing the bracket 80 from continuing to descend.

[0311] 44 and 47 , in a further embodiment of the present application, the second position-limiting member 83 includes a second mounting post 931 and a clamping portion 932. The second mounting post 931 is provided on the bracket 80 or the main body 10. The second mounting post 931 is inserted into the clearance hole 0a. The clamping portion 932 is detachably provided on the second mounting post 931. The flange 261 is provided on the clamping portion 932. For example, the clamping portion 932 may be provided with an insertion hole, into which the second mounting post 931 may be inserted. The second mounting post 931 and the clamping portion 932 are further connected by a fastener. In addition, the insertion hole may be a threaded hole. The outer wall of the second mounting post 931 may be provided with an external thread. The clamping portion 932 is threadedly connected to the second mounting post 931. In this embodiment, the clamping portion 932 is detachably provided on the second mounting column 931. When the flange 261 is damaged, the clamping portion 932 can be replaced. In addition, when the bracket 80 needs to be disassembled, the clamping portion 932 is removed and the second mounting column 931 is moved out of the clearance hole 0a. After that, the bracket 80 can be easily disassembled.

[0312] 35 and 48 , in some embodiments of the present application, the cleaning assembly 20 is configured as a roller. Thus, when the main body 10 drives the cleaning assembly 20 to move, the cleaning assembly 20 itself can also rotate, thereby improving the cleaning effect and reducing the possibility of the cleaning assembly 20 getting stuck, thereby improving practicality.

[0313] It should be noted that the cleaning component 20 may also be other cleaning structures, for example, a roller brush, a crawler-type rag, or a cleaning nozzle.

[0314] For example, please refer to FIG. 47 , the up and down directions are the directions indicated by arrows R1 in the figure.

[0315] According to a second aspect of the present application, a cleaning device is provided. Please refer to Figures 49 and 57. The cleaning device includes a body assembly 100, a driver 200, a mounting bracket 300, and a cleaning member 400. The driver 200 is mounted on the body assembly 100. The mounting bracket 300 is rotatably connected to the body assembly 100. The central axis of rotation of the mounting bracket 300 relative to the body assembly 100 is a first axis 310. The driver 200 is used to drive the mounting bracket 300 to rotate. The cleaning member 400 is rotatably connected to the mounting bracket 300. The central axis of rotation of the cleaning member 400 relative to the mounting bracket 300 is a second axis 410. The first axis 310 and the second axis 410 are arranged at intervals.

[0316] The first axis 310 and the second axis 410 are spaced apart, and the rotation center of the cleaning member 400 deviates from the rotation center of the mounting bracket 300 .

[0317] Exemplarily, the first axis 310 and the second axis 410 are both arranged substantially horizontally.

[0318] Exemplarily, the driver 200 is a motor or a rotary cylinder.

[0319] Exemplarily, the motor has a self-locking function.

[0320] Exemplarily, the rotary cylinder has a self-locking function.

[0321] Exemplarily, the motor is a worm gear reduction motor.

[0322] Exemplarily, the body assembly 100 includes a handle and a housing connected to the handle. The driver 200 is mounted on the housing, and the mounting bracket 300 is rotatably connected to the housing.

[0323] Exemplarily, the first axis 310 and the second axis 410 are parallel.

[0324] Illustratively, the cleaning device may be a mop or a washer-mop machine, etc., and may also be applied to a sweeper.

[0325] In this embodiment, because the first axis 310 and the second axis 410 are spaced apart, the cleaning member 400 and the mounting frame 300 are eccentrically arranged. When the driver 200 drives the mounting frame 300 to rotate, the rotating mounting frame 300 drives the eccentrically arranged cleaning member 400 to rise and fall, so that the cleaning member 400 of the cleaning device can be lowered to contact the ground according to actual needs, meeting the cleaning needs of the cleaning device to clean the ground under cleaning conditions, and can also be raised to separate from the ground according to actual needs, meeting the cleaning needs of the cleaning device to reduce contamination of the cleaned ground under transfer conditions. Therefore, the cleaning device drives the mounting frame 300 to move the cleaning member 400 up and down through the driver 200, which can meet multiple different operating conditions of the cleaning device. In addition, when the cleaning device is passing over a carpet, the driver 200 can drive the mounting frame 300 to drive the cleaning member 400 to rise and lift it off the carpet, which can reduce the degree to which the cleaning member 400 wets the carpet.

[0326] It can be understood that the cleaning member 400 and the mounting frame 300 are eccentrically arranged, and the cleaning member 400 is lifted and lowered by rotating the mounting frame 300 on which the cleaning member 400 is mounted. There is no need to set up an additional lifting structure outside the mounting frame 300, which is beneficial to reducing the cost and volume of the cleaning equipment.

[0327] In one embodiment, the cleaning device further includes a roller brush. When the cleaning device passes over the carpet, the driver 200 drives the mounting frame 300 to lift the cleaning member 400 off the carpet, and the carpet is cleaned by the roller brush.

[0328] In one embodiment, referring to FIG. 49 and FIG. 50 , the distance between the first axis 310 and the second axis 410 is greater than or equal to 3 mm.

[0329] Exemplarily, referring to FIG. 49 and FIG. 50 , the distance between the first axis 310 and the second axis 410 is D1, and D1 ≥ 3 mm.

[0330] For example, referring to FIG. 49 and FIG. 50 , the distance between the first axis 310 and the second axis 410 may be 3 mm, 5 mm, 7 mm, 11 mm, 15 mm, 20 mm, or 22 mm.

[0331] In the embodiment of the present application, the distance between the first axis 310 and the second axis 410 is arranged so that the rotating mounting frame 300 can drive the cleaning member 400 to rise to a greater extent, so that the cleaning member 400 can be lifted off the ground as much as possible.

[0332] In one embodiment, referring to FIG. 49 and FIG. 50 , the distance between the first axis 310 and the second axis 410 may be 10 mm.

[0333] In the embodiment of the present application, the distance between the first axis 310 and the second axis 410 is relatively appropriate, which can not only lift the cleaning member 400 off the ground to a suitable height, but also ensure that the space occupied by the entire cleaning equipment is within a relatively reasonable range.

[0334] It is understandable that the distance between the first axis 310 and the second axis 410 is not limited and can be set according to actual needs.

[0335] In one embodiment, referring to Figures 49 and 55 , the mounting bracket 300 includes a mounting body 320 and a housing 330. The mounting body 320 is rotatably connected to the body assembly 100. The cleaning member 400 is disposed at both ends of the mounting body 320 and is rotatably connected to the mounting body 320. The driver 200 is configured to drive the mounting bracket 300 to rotate. The housing 330 is connected between the mounting bodies 320 at both ends. The housing 330 is at least partially located on a side of the second axis 410 that faces the first axis 310 along a radial direction of the cleaning member 400. The housing 330 and the mounting bodies 320 at both ends enclose a receiving cavity 340, and the cleaning member 400 is partially located within the receiving cavity 340.

[0336] It should be explained that the cleaning member 400 rotates around the second axis 410 , the central axis of the cylindrical reference surface coincides with the second axis 410 , and the radial direction of the cleaning member 400 is the radial direction of the corresponding cylindrical reference surface.

[0337] For example, referring to Figures 49 to 54, the cleaning member 400 is a roller, and the radial direction of the cleaning member 400 is the radial direction of the roller.

[0338] It should be explained that, referring to Figures 49 and 57, the cleaning member 400 rotates around the second axis 410, and the axial direction of the cleaning member 400 is the direction in which the second axis 410 extends.

[0339] Exemplarily, the cross section of the cover 330 is arc-shaped.

[0340] Exemplarily, the cover 330 is a plate-shaped structure.

[0341] In the embodiment of the present application, the driver 200 drives the installation body 320 to rotate and drive the cleaning member 400 to rise and fall, so as to meet multiple working conditions of the cleaning equipment. The cover 330 between the installation bodies 320 at both ends rotates around the circumference of the cleaning member 400 under the drive of the installation body 320. Since the cover 330 is at least partially located on the side of the second axis 410 that faces the first axis 310 along the radial direction of the cleaning member 400, when the cleaning member 400 descends to contact the ground, the second axis 410 is roughly below the first axis 310, and the cover 330 is at least partially above the first axis 310. The dirty water thrown out by the cleaning member 400 during the mopping process is blocked by the cover 330, which can minimize the possibility of the dirty water thrown out by the cleaning member 400 splashing onto the fuselage assembly 100, which is beneficial to reduce the pollution of the fuselage assembly 100 by the cleaning member 400. 00 rises until it is separated from the ground or carpet, the second axis 410 is approximately above the first axis 310, and the cover shell 330 is at least partially below the first axis 310, so that the cover shell 330 is at least partially below the cleaning member 400 to hold the cleaning member 400. During the process of the cleaning device being transferred to the base station or passing through the carpet, even if water drops from the cleaning member 400, it will be held by at least a portion of the cover shell 330 below the cleaning member 400, which can reduce the possibility of the cleaning member 400 wetting the carpet and reduce the possibility of dirt such as sewage on the cleaning member 400 contaminating the ground.

[0342] It is understood that the specific structure of the mounting bracket 300 is not limited. For example, the mounting bracket 300 includes a mounting body 320 at both ends of the cleaning member 400, but does not include a cover 330.

[0343] In one embodiment, referring to Figures 51, 53 and 57, the mounting bracket 300 has a third trigger portion 350, which is located on the side of the mounting bracket 300 radially away from the cleaning member 400. The cleaning device also includes a third trigger switch 500. The third trigger portion 350 can rotate with the mounting bracket 300 to a position where the third trigger switch 500 is triggered so that the third trigger switch 500 generates a signal that the mounting bracket 300 is rotated to the extreme position.

[0344] For example, the third trigger switch 500 may be a press switch. When the third trigger portion 350 is located at a position for triggering the third trigger switch 500 , the third trigger portion 350 abuts against the third trigger switch 500 .

[0345] Exemplarily, the third trigger switch 500 can be a proximity switch. When the third trigger part 350 is located at the position to trigger the third trigger switch 500, the third trigger part 350 is separated from the third trigger switch 500 by a certain distance, and the third trigger part 350 is not in contact with the third trigger switch 500.

[0346] Exemplarily, the third trigger switch 500 can be an optocoupler detection switch or an infrared detection switch, etc. When the third trigger part 350 is located at the position to trigger the third trigger switch 500, the third trigger part 350 is separated from the third trigger switch 500 by a certain distance, and the third trigger part 350 is not in contact with the third trigger switch 500.

[0347] Exemplarily, the third triggering portion 350 is block-shaped.

[0348] In an embodiment of the present application, the third trigger portion 350 follows the mounting bracket 300 to rotate to a position where the third trigger switch 500 is triggered, so that the third trigger switch 500 generates a signal that the mounting bracket 300 is rotated to the extreme position. The controller can stop the driver 200 from working according to the signal generated by the third trigger switch 500, so that the driver 200 drives the mounting bracket 300 to rotate to a suitable position and stops, which is beneficial to protecting the mounting bracket 300 and the body assembly 100 and reducing damage between the mounting bracket 300 and the body assembly 100.

[0349] In one embodiment, please refer to Figures 51 and 53, the third trigger switch 500 includes a signal generator 510 and a probe rod installed on the signal generator 510, and the third trigger part 350 has a trigger surface 3501 for abutting the probe rod. When the trigger surface 3501 abuts the probe rod, the trigger surface 3501 and the probe rod are arranged crosswise, and the trigger surface 3501 is approximately perpendicular or at a certain angle to the axis of the probe rod.

[0350] It should be noted that the trigger surface 3501 is perpendicular to the axial direction of the probe rod and is a plane.

[0351] Exemplarily, there are two disconnected nodes on the signal generator 510 , and the probe rods are electrically connected to the two disconnected nodes on the signal generator 510 respectively, thereby connecting the two nodes of the signal generator 510 and causing the signal generator 510 to generate a signal.

[0352] In the embodiment of the present application, the trigger surface 3501 is used to push the probe rod to extend and retract, so that the signal generator 510 generates a signal that the mounting bracket 300 rotates to the extreme position. The trigger surface 3501 is arranged crosswise with the probe rod. The trigger surface 3501 is approximately perpendicular to the axis of the probe rod or forms a certain angle with the axis of the probe rod. The direction of the force exerted by the trigger surface 3501 on the probe rod is approximately along the extension and retraction direction of the probe rod, which is conducive to the trigger surface 3501 smoothly pushing the probe rod to extend and retract.

[0353] It is understandable that the trigger surface 3501 may not be perpendicular to the axial direction of the probe rod, and the trigger surface 3501 may form an acute angle or an obtuse angle with the axial direction of the probe rod.

[0354] In one embodiment, referring to Figures 51 and 53, the third trigger portion 350 is in the shape of a flat plate, the number of the third trigger switches 500 is multiple, at least one of the probe rods of the third trigger switch 500 is a first probe rod 5210, the first probe rod 5210 has a first contact surface 52101 abutting against the trigger surface 3501, at least one of the probe rods of the third trigger switch 500 is a second probe rod 5220, the second probe rod 5220 and the first probe rod 5210 are arranged along the circumference of the cleaning member 400, and the first probe rod 5210 is located at the cleaning member 400. On one side of the cleaning member 400 along a preset direction, the preset direction is arranged crosswise with the axial direction and the up-down direction of the cleaning member 400, and the second probe rod 5220 is located on the other side of the cleaning member 400 along the preset direction. The second probe rod 5220 has a second contact surface 52201 that abuts against the trigger surface 3501. The first contact surface 52101 or the second contact surface 52201 coincides with the second axis 410. The distance between the first contact surface 52101 and the second contact surface 52201 is equal to the thickness of the flat-plate-shaped third trigger portion 350.

[0355] It should be noted that the first contact surface 52101 or the second contact surface 52201 coincides with the second axis 410 means that the plane where the first contact surface 52101 is located coincides with the second axis 410, or the plane where the second contact surface 52201 is located coincides with the second axis 410.

[0356] In the embodiment of the present application, the first contact surface 52101 or the second contact surface 52201 coincides with the second axis 410, and the distance between the first contact surface 52101 and the second contact surface 52201 is equal to the thickness of the flat-plate-shaped third trigger portion 350. When the third trigger portion 350 rotates from contact with one of the first contact surface 52101 and the second contact surface 52201 to contact with the other of the first contact surface 52101 and the second contact surface 52201, the third trigger portion 350 rotates approximately 180 degrees. The height difference between the first contact surface 52101 and the second contact surface 52201 leaves space for the third trigger portion 350 to be arranged approximately along the thickness direction of the third trigger portion 350. The third trigger portion 350 is formed on the mounting frame 300. The approximately 180-degree rotation of the third trigger portion 350, i.e., the approximately 180-degree rotation of the mounting frame 300, substantially enables the cleaning member 400 to switch between the highest and lowest positions with relative accuracy.

[0357] It is understood that the arrangement of the third trigger switch 500 is not limited. For example, when the third trigger portion 350 rotates from contact with one of the first contact surface 52101 and the second contact surface 52201 to contact with the other of the first contact surface 52101 and the second contact surface 52201, the angle of rotation of the cover 330 can be 145 degrees.

[0358] In one embodiment, referring to Figures 51 and 53, the first contact surface 52101 or the second contact surface 52201 is parallel to the horizontal plane, and the distance between the first contact surface 52101 and the second contact surface 52201 is the height difference between the first contact surface 52101 and the second contact surface 52201.

[0359] Exemplarily, referring to FIG. 51 and FIG. 53 , the first contact surface 52101 is parallel to the horizontal plane.

[0360] For example, referring to Figures 51 and 53 , the first contact surface 52101 is parallel to the horizontal plane. When the third trigger portion 350 contacts the first contact surface 52101, the cover 330 is at least partially located below the cleaning element 400, catching water dripping from the cleaning element 400, reducing contamination of the floor or carpet by the cleaning element 400 and minimizing the degree of carpet wetting caused by the cleaning element 400. When the third trigger portion 350 contacts the second contact surface 52201, the cover 330 is at least partially located above the cleaning element 400, partially shielding the cleaning element 400 from water splashing during the mopping process, thereby reducing contamination of the body assembly 100 by water thrown out by the cleaning element 400.

[0361] In the embodiment of the present application, the first contact surface 52101 or the second contact surface 52201 is parallel to the horizontal plane, and the distance between the first contact surface 52101 and the second contact surface 52201 is the height difference between the first contact surface 52101 and the second contact surface 52201. Because the distance between the first contact surface 52101 and the second contact surface 52201 is equal to the thickness of the flat-plate-shaped third trigger portion 350, the height difference between the first contact surface 52101 and the second contact surface 52201 is equal to the thickness of the flat-plate-shaped third trigger portion 350. The installation heights of the third trigger switches 500 on both sides are relatively close, and both third trigger switches 500 on both sides can be installed roughly above the cleaning member 400 on the body assembly 100, facilitating foldable installation of the third trigger switches 500.

[0362] In one embodiment, please refer to Figures 49 to 54. When the driver 200 drives the mounting bracket 300 to rotate in the first direction so that the cleaning member 400 rotates to the ascending state, the third trigger portion 350 is located at a position corresponding to triggering one of the third trigger switches 500 to generate a signal that the mounting bracket 300 rotates to the extreme position in the first direction. When the driver 200 drives the mounting bracket 300 to rotate in the second direction so that the cleaning member 400 rotates to the descending state, the second direction is opposite to the first direction. The third trigger portion 350 is located at a position corresponding to triggering another third trigger switch 500 to generate a signal that the mounting bracket 300 rotates to the extreme position in the second direction.

[0363] It should be explained that the first direction and the second direction are the directions in which the driver 200 drives the mounting bracket 300 to rotate. The driver 200 drives the mounting bracket 300 to rotate along the first direction to make the cleaning member 400 rise, and the driver 200 drives the mounting bracket 300 to rotate along the second direction to make the cleaning member 400 fall.

[0364] Exemplarily, referring to FIG. 51 to FIG. 54 , the first direction is the direction indicated by arrow R2 in the figures.

[0365] Exemplarily, referring to FIG. 51 to FIG. 54 , the second direction is the direction indicated by arrow R3 in the figures.

[0366] In the embodiment of the present application, the driver 200 drives the mounting frame 300 to rotate in the first direction, causing the third triggering portion 350 to trigger the corresponding third triggering switch 500. The third triggering switch 500 generates a corresponding signal, thereby confirming that the mounting frame 300 has rotated to the limit position in the first direction, the corresponding cleaning member 400 has risen to the limit position, and the cleaning member 400 has rotated to the raised state. The driver 200 drives the mounting frame 300 to rotate in the second direction, causing the corresponding third triggering portion 350 to trigger the triggering switch 5. The third triggering switch 500 generates a corresponding signal, thereby confirming that the mounting frame 300 has rotated to the limit position in the second direction, the corresponding cleaning member 400 has descended to the limit position, and the cleaning member 400 has rotated to the lowered state. The triggering of the corresponding third triggering switch 500 can clearly indicate the state of the cleaning member 400.

[0367] In one embodiment, please refer to Figures 52, 54, 55 and 56, a limiting portion 110 is provided at at least one end of the body assembly 100 along the axial direction of the cleaning member 400, and the mounting frame 300 has a limiting rib 360. When the third trigger portion 350 is located at a position to trigger the third trigger switch 500, the limiting portion 110 abuts against the corresponding limiting rib 360.

[0368] For example, referring to FIG. 55 and FIG. 56 , the limiting portion 110 and / or the limiting rib 360 are block-shaped.

[0369] Exemplarily, referring to FIG. 55 , the limiting rib 360 is formed on the mounting body 320 .

[0370] In the embodiment of the present application, the abutment between the limiting portion 110 and the limiting rib 360 can alleviate the impact of the third trigger portion 350 on the third trigger switch 500, which is beneficial to protecting the third trigger switch 500.

[0371] In one embodiment, please refer to Figure 57, the body assembly 100 is provided with limiting portions 110 at both ends along the axial direction of the cleaning member 400, and the third trigger switch 500 is located between the limiting portions 110 at both ends along the axial direction of the cleaning member 400, and the limiting portion 110 on each side abuts against the corresponding limiting rib 360.

[0372] In the embodiment of the present application, the limiting portions 110 at both ends abut against the corresponding limiting ribs 360, so that the two ends of the cleaning member 400 are evenly stressed, which can better alleviate the impact of the third trigger portion 350 between the limiting portions 110 on the two sides on the third trigger switch 500, which is beneficial to protecting the third trigger switch 500.

[0373] In one embodiment, please refer to Figure 57, a third trigger switch 500 and a corresponding limiting portion 110 are provided on opposite sides of the cleaning member 400 along a preset direction. The preset direction is cross-arranged with the axial direction and the up and down directions of the cleaning member 400, and the limiting portion 110 on each side abuts against the corresponding limiting rib 360.

[0374] For example, please refer to Figures 51 to 54, the preset direction is the direction indicated by the arrow R4 in the figures.

[0375] In the embodiment of the present application, the abutment between the limiting portion 110 and the limiting rib 360 on each side can reduce the impact of the third trigger portion 350 on the corresponding side on the third trigger switch 500, and the third trigger switches 500 on the radially opposite sides of the cleaning member 400 can be better protected.

[0376] In one embodiment, referring to FIG. 55 , the third trigger portion 350 is formed on the housing 330 .

[0377] In one embodiment, please refer to Figures 51 to 54. When the cleaning member 400 is in a descending state, the first axis 310 is located above the second axis 410, and the mounting frame 300 at least partially covers the top of the cleaning member 400 to prevent the liquid on the cleaning member 400 from splashing toward the fuselage assembly 100. When the cleaning member 400 is in an ascending state, the first axis 310 is located below the second axis 410, and the mounting frame 300 is at least partially located below the cleaning member 400 to collect liquid dripping downward from the cleaning member 400.

[0378] In the embodiment of the present application, when the cleaning member 400 is in the lowered state, the cleaning member 400 cleans the surface to be cleaned below (e.g., the floor), and the mounting frame 300, which is at least partially located above the cleaning member 400, shields the liquid splashed by the cleaning member 400 to a certain extent, preventing the liquid from splashing onto the body assembly 100. When the cleaning member 400 is in the raised state, the cleaning member 400 is separated from the surface to be cleaned, and the mounting frame, which is at least partially located below the cleaning member 400, is scooped under the cleaning member 400, preventing water on the cleaning member 400 that has separated from the surface to be cleaned from dripping onto the surface to be cleaned.

[0379] In one embodiment, the cleaning device further includes a sensor disposed on the body assembly 100, wherein the sensor is used to detect the material of the surface to be cleaned and generate a detection signal based on the material of the surface to be cleaned, and the detection signal is used as a basis for controlling the driver 200 to drive the mounting bracket 300 to drive the cleaning member 400 to rise and fall.

[0380] The detection signal is used as a basis for controlling the driver 200 to drive the mounting bracket 300 to lift the cleaning member 400 . The controller can control the driver 200 to move so as to lift the cleaning member 400 based on the detection signal.

[0381] In the embodiment of the present application, the material of the surface to be cleaned can be clearly identified through the detection signal of the sensor, so that different lifting actions can be performed according to different materials.

[0382] For example, when it is determined through the detection signal that the material of the surface to be cleaned is carpet, the driver 200 drives the mounting bracket 300 to drive the cleaning element 400 to rotate to an upward state to prevent the carpet from getting wet. When it is determined through the detection signal that the material of the surface to be cleaned is a surface to be cleaned such as the ground that can be wetted by water, the driver 200 drives the mounting bracket 300 to drive the cleaning element 400 to rotate to a downward state to clean the surface to be cleaned.

[0383] In one embodiment, the cleaning device is a cleaning robot.

[0384] In one embodiment, referring to Figures 51 to 54 , the cleaning member 400 is a roller.

[0385] For example, the drum may be a wet drum for mopping the floor, or a dry drum for absorbing water stains on the floor.

[0386] In one embodiment, the cleaning device further includes a driving device for driving the cleaning member 400 to rotate. The self-rotation of the cleaning member 400 around the second axis 410 and the rotation of the cleaning member 400 relative to the mounting frame 300 around the first axis 310 are not mutually exclusive.

[0387] Exemplarily, the driving device may be a motor.

[0388] Exemplarily, the driving device may be an electric motor with a built-in gearbox.

[0389] Exemplarily, the driving device may include a motor and an external gearbox, and the motor transmits power through the external gearbox.

[0390] For example, the driving device may be located inside the cleaning member 400 .

[0391] For example, the driving device may be located outside the cleaning member 400 .

[0392] For example, the driving device may be mounted on the mounting bracket 300 .

[0393] In the embodiment of the present application, the driver 200 drives the mounting bracket 300 to rotate to a lowered state, the driver 200 stops rotating, and the driving device drives the cleaning member 400 to rotate, so that the rotating cleaning member 400 can better clean the surface to be cleaned.

[0394] The various embodiments / implementations provided in this application can be combined with each other without causing any contradiction.

[0395] The foregoing description is merely a preferred embodiment of the present application and is not intended to limit the present application. Persons skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A cleaning robot, wherein: include: Main body; A cleaning assembly connected to the main body, the cleaning assembly being capable of rising and falling relative to the main body, and the cleaning assembly being used to clean the surface to be cleaned; A driving assembly is used to drive the cleaning assembly to rise and fall.

2. The cleaning robot according to claim 1, wherein: The cleaning assembly is arranged below the main body, and includes a frame and a cleaning member. The cleaning member is rotatably arranged on the frame, and the frame is connected to the main body and can move in a height direction relative to the main body. The driving component is arranged on the main body or the cleaning component, and the driving component includes a first driving part and a pressurizing part. The first driving part drives the pressurizing part to switch between a pressurized state and an avoidance state. In the pressurized state, the driving component applies pressure to the cleaning component, and the pressure has at least a downward component; in the avoidance state, the pressurizing part allows the cleaning component to float up and down relative to the main body.

3. The cleaning robot according to claim 2, wherein: The driving component is arranged on the main body, and the first driving part is used to drive the pressurizing part to rotate. The pressurizing part has a pressurizing surface, and the pressurizing part can adjust the height of the pressurizing surface during the rotation process; wherein, in the pressurizing state, the pressurizing surface abuts against the cleaning component to apply the pressure; in the avoidance state, the pressurizing surface is separated from the cleaning component.

4. The cleaning robot according to claim 3, wherein: The rotation axis of the pressurizing portion is perpendicular to the height direction of the cleaning robot.

5. The cleaning robot according to claim 4, wherein: The pressing portion includes a cam, and an outer peripheral surface of the cam defines the pressing surface.

6. The cleaning robot according to claim 3, wherein: The pressurizing portion includes a crankshaft including a main journal and a connecting rod journal. The axis of the main journal and the rotation axis of the pressurizing portion are located in a straight line. The side surface of the connecting rod journal defines the pressurizing surface.

7. The cleaning robot according to claim 6, wherein: The cleaning assembly includes a lifting frame arranged on the frame, the connecting rod neck is passed through the bottom of the lifting frame, and the first driving part can drive the pressure part to rotate to a first preset angle position and lift the lifting frame upward to drive the cleaning assembly to rise.

8. The cleaning robot according to claim 7, wherein: The main body has a first trigger switch, and the frame has a first trigger part, and the first trigger part is used to: when the frame rises to a first preset position, the first trigger part triggers the first trigger switch; And / or, the main body has a second trigger switch, the frame has a second trigger part, and the second trigger part is used to: when the frame descends to a second preset position, the second trigger part triggers the second trigger switch.

9. The cleaning robot according to claim 2, wherein: The cleaning assembly further includes a first elastic member and a lining. The first elastic member is disposed on the frame. The lining is connected to the first elastic member. The pressurizing portion is configured to abut against the lining and transmit the force to the frame through the first elastic member.

10. The cleaning robot according to claim 2, wherein: The main body has a limiting hole, and the cleaning component includes a first limiting sleeve arranged on the frame. The outer peripheral side of the first limiting sleeve has a flange. The first limiting sleeve is slidably inserted into the limiting hole along the height direction of the cleaning robot, and the flange can abut against the upper edge of the limiting hole.

11. The cleaning robot according to claim 2, wherein: The cleaning robot also includes a four-bar linkage, wherein the lines connecting the four hinge points of the four-bar linkage in sequence form a parallelogram, the four-bar linkage is installed on the main body at two adjacent hinge points of the four hinge points, and the four-bar linkage is installed on the frame at the other two adjacent hinge points of the four hinge points. The connecting rod of the four-bar linkage that spans the main body and the frame is the first connecting rod, and the first connecting rod is rotatably connected to the main body and the frame respectively.

12. The cleaning robot according to claim 1, wherein: The cleaning assembly is liftably mounted on the main body, and includes a main body and a lifting member, the lifting member protruding from the main body and connected to the main body, and a slot is formed between the lifting member and the main body; The driving assembly is arranged on the main body, and the driving assembly includes a driving member and a rotating member. The driving member is suitable for driving the rotating member to rotate. The rotating member has a protrusion extending along its rotation axis. At least a part of the protrusion is suitable for inserting into the slot and cooperating with the lifting member to drive the cleaning assembly to rise and fall under the drive of the driving member.

13. The cleaning robot according to claim 12, wherein: Also includes: A second elastic member is respectively matched with the main body and the cleaning component, and the second elastic member is suitable for applying a downward elastic force to the cleaning component.

14. The cleaning robot according to claim 13, wherein: The second elastic part is a spring, the main body has a first limiting part, and the main body has a second limiting part. The two ends of the spring respectively cooperate with the first limiting part and the second limiting part, wherein the first limiting part is a limiting column or a limiting groove, and the second limiting part is a limiting column or a limiting groove.

15. The cleaning robot according to claim 13, wherein: The second elastic member is a torsion spring. At least one of the main body and the main body is provided with a fixed shaft. The torsion spring is sleeved on the fixed shaft. One end of the torsion spring cooperates with the main body, and the other end of the torsion spring cooperates with the main body.

16. The cleaning robot according to claim 13, wherein: The second elastic member is a tension spring, the cleaning component is provided with a first connecting hook, the main body is provided with a second connecting hook, one end of the tension spring is hooked on the first connecting hook, and the other end of the tension spring is hooked on the second connecting hook.

17. The cleaning robot according to claim 12, wherein: Also includes: A limiting assembly is used to limit the moving path of the cleaning assembly. The limiting assembly includes two connecting blocks and at least one connecting rod. One connecting block is connected to the main body, and the other connecting block is connected to the cleaning assembly. The two ends of each connecting rod are respectively rotatably connected to the two connecting blocks.

18. The cleaning robot according to claim 17, wherein: The connecting block is snap-fitted with the main body; and / or the connecting block is snap-fitted with the cleaning component.

19. The cleaning robot according to claim 17, wherein: The connecting rods include a plurality of connecting rods, and the plurality of connecting rods are arranged in parallel.

20. The cleaning robot according to claim 12, wherein: The rotating member includes a rotating body and a protrusion. The rotating body is connected to the driving member and is suitable for rotating around the output shaft of the driving member. The protrusion is located on the side of the rotating body away from the driving member and the protrusion is located on the radial side of the output shaft. The protrusion is suitable for being inserted into the slot.

21. The cleaning robot according to claim 20, wherein: The rotating member further includes a linkage member, which is arranged on a side of the protruding portion away from the rotating body. The main body has a limiting sleeve, and at least a portion of the linkage member is suitable for being inserted into the limiting sleeve and rotatingly matched with the limiting sleeve.

22. The cleaning robot according to claim 21, wherein: The linkage member and the protruding portion are an integrally formed part.

23. The cleaning robot according to claim 12, wherein: The rotating member includes a crank, one end of which is connected to the driving member and is adapted to rotate around the output shaft of the driving member, and the crank is adapted to extend into the slot; And / or, the rotating member includes a cam, the cam is connected to the driving member and is suitable for rotating around the output shaft of the driving member, and the cam is suitable for being inserted into the slot.

24. The cleaning robot according to claim 12, wherein: The body comprises: A lifting plate, wherein the lifting member is arranged on the lifting plate; A cleaning member bracket, the cleaning member bracket being arranged at the lower portion of the lifting plate, the cleaning member bracket defining a cleaning member cavity with one side open; A cleaning member is disposed in the cleaning member cavity and is rotatably connected to the cleaning member bracket.

25. The cleaning robot according to claim 12, wherein: The main body has a limiting hole, the cleaning assembly has a first limiting member, one end of the first limiting member is connected to the main body, and the other end of the first limiting member passes through the limiting hole and has a limiting end surface extending into the upper surface of the main body. The first limiting member is movable relative to the limiting hole, and limits the downward movement of the main body when the limiting end surface abuts against the upper surface of the main body.

26. The cleaning robot according to claim 12, wherein: Also includes: At least one driving switch is provided on the main body, the main body has at least one switch portion, and the driving switch is adapted to control the driving member to stop working when the switch portion cooperates with the main body.

27. The cleaning robot according to claim 1, wherein: The cleaning robot further comprises a bracket and a pulley assembly, wherein the bracket is movably mounted on the main body, and the pulley assembly comprises a first movable pulley mounted on the bracket; The driving assembly is arranged on the main body, and the driving assembly includes a driving mechanism and a cable. The cable is arranged around the first movable pulley and is respectively connected to the driving mechanism and the main body. The driving mechanism controls the lifting and lowering of the bracket through the cable.

28. The cleaning robot according to claim 27, wherein: The pulley assembly further comprises: a second movable pulley, provided on the bracket; a fixed pulley, provided on the main body; The cable is led out from the driving mechanism and is sequentially wound around the first movable pulley, the fixed pulley and the second movable pulley.

29. The cleaning robot according to claim 28, wherein: The second movable pulley is located above the first movable pulley, and the fixed pulley is located above the second movable pulley.

30. The cleaning robot according to any one of claims 27 to 29, wherein: The driving assembly also includes a cable storage part, the driving mechanism is provided with a rotatable second driving part, the cable storage part is detachably connected to the second driving part and is driven to rotate by the second driving part, the cable is connected to and wound on the cable storage part, wherein, when the driving mechanism drives the bracket to rise from the second position to the first position and the driving mechanism continues to operate, the cable storage part is separated from the driving part.

31. The cleaning robot according to claim 30, wherein: The drive assembly further includes: a mounting portion, wherein the cable storage member is movably mounted on the mounting portion along an axial direction of the cable storage member, and one of the end surfaces of the second driving portion facing the cable storage member is provided with a recess, and the other end surface is provided with a protrusion, wherein the protrusion is locked in the recess; a third elastic member, provided on the mounting portion and elastically abutting against an end of the cable storage member facing away from the second driving portion; Wherein, when the driving mechanism drives the bracket to rise to the first position and the driving mechanism continues to operate, the protrusion slides out of the recess.

32. The cleaning robot according to claim 31, wherein: The mounting portion is provided with a mounting shaft, the cable storage member is rotatably sleeved outside the mounting shaft and can slide along the axial direction of the mounting shaft, and the second driving portion is rotatably mounted on the mounting shaft.

33. The cleaning robot according to claim 32, wherein: The third elastic member includes a spring sleeved outside the mounting shaft.

34. The cleaning robot according to claim 31, wherein: There are multiple recessed positions and they are evenly arranged along the circumference of the installation shaft. There are multiple protrusions corresponding to the recessed positions and they are evenly arranged along the circumference of the installation shaft.

35. The cleaning robot according to any one of claims 31, wherein: The surface of the concave portion is configured as an inwardly concave spherical surface or an arc surface, and the surface of the convex portion is configured as an outwardly convex spherical surface or an arc surface.

36. The cleaning robot according to any one of claims 27 to 29, wherein: The main body is provided with a swing frame which can rotate relative to the main body, the rotation axis between the swing frame and the main body extends in a horizontal direction, and the bracket is connected to the swing frame.

37. The cleaning robot according to claim 36, wherein: The swing frame includes a plurality of swing rods rotatably connected to the main body and parallel to each other, the rotation axes between all the swing rods and the main body extend in the horizontal direction, and the bracket is connected to one end of all the swing rods away from the main body.

38. The cleaning robot according to claim 37, wherein: There are at least two groups of swing rods distributed side by side, and each group of swing rods has at least two swing rods arranged along the height direction of the main body. All the swing rods are rotatably connected to the bracket, and the rotation axes between all the swing rods and the bracket extend in the horizontal direction.

39. The cleaning robot according to any one of claims 27 to 29, wherein: The bracket is capable of descending from a first position to a second position, the main body or the bracket is provided with a first switch connected to the driving mechanism, the first switch being configured to operate when the bracket descends to the second position to stop the driving mechanism; The main body or the bracket is provided with a second switch connected to the driving mechanism, and the second switch is configured to operate when the bracket rises to the first position to stop the driving mechanism.

40. The cleaning robot according to any one of claims 27 to 29, wherein: The bracket can be lowered from a first position to a second position, the main body is provided with a clearance hole, the bracket is installed with a limiter that passes through the clearance hole, the outer wall of the top end of the limiter is provided with a flange, and when the bracket is lowered to the second position, the bottom surface of the flange abuts against the main body; or The bracket is provided with a clearance hole, and the main body is installed with a limiting member passing through the clearance hole. The outer wall of the bottom end of the limiting member is provided with a flange. When the bracket descends to the second position, the top surface of the flange abuts against the bracket.

41. The cleaning robot according to any one of claims 27 to 29, wherein: The cleaning component is configured as a roller.

42. A cleaning device, wherein: include: fuselage components; A driver, mounted on the fuselage assembly; A mounting frame is rotatably connected to the fuselage assembly, wherein the central axis of rotation of the mounting frame relative to the fuselage assembly is a first axis, and the driver is used to drive the mounting frame to rotate; The cleaning member is rotatably connected to the mounting frame. The central axis of rotation of the cleaning member relative to the mounting frame is the second axis. The first axis and the second axis are arranged at intervals.

43. The cleaning device of claim 42, wherein A distance between the first axis and the second axis is greater than or equal to 3 mm.

44. The cleaning apparatus of claim 42, wherein: The distance between the first axis and the second axis is 10 mm.

45. A cleaning device according to any one of claims 42 to 44, wherein: The mounting frame comprises: A mounting body is rotatably connected to the body assembly, two ends of the cleaning member are provided on the mounting body, the cleaning member is rotatably connected to the mounting body, and the driver is used to drive the mounting body to rotate; The cover shell is connected between the mounting bodies at both ends. The cover shell is at least partially located on the side of the second axis radially toward the first axis of the cleaning member. The cover shell and the mounting bodies at both ends form an accommodating cavity, and the cleaning member is partially located in the accommodating cavity.

46. ​​A cleaning device according to any one of claims 42 to 44, wherein The mounting bracket has a third trigger portion, which is located on the side of the mounting bracket radially away from the cleaning member. The cleaning device also includes a third trigger switch. The third trigger portion can rotate with the mounting bracket to a position that triggers the third trigger switch so that the third trigger switch generates a signal that the mounting bracket has rotated to the extreme position.

47. The cleaning apparatus of claim 46, wherein The third trigger switch includes a signal generator and a probe rod installed on the signal generator. The third trigger part has a trigger surface for abutting the probe rod. When the trigger surface abuts the probe rod, the trigger surface and the probe rod are arranged crosswise, and the trigger surface is approximately perpendicular to the axial direction of the probe rod or forms a certain angle.

48. The cleaning apparatus of claim 47, wherein The third trigger portion is in the shape of a plate, and there are multiple third trigger switches. The probe rod of at least one of the third trigger switches is a first probe rod, and the first probe rod has a first contact surface abutting the trigger surface. At least one of the probe rods of the third trigger switch is a second probe rod. The second probe rod and the first probe rod are arranged along the circumference of the cleaning member. The first probe rod is located on one side of the cleaning member along a preset direction, and the preset direction is arranged to cross the axial direction and the up and down directions of the cleaning member respectively. The second probe rod is located on the other side of the cleaning member along the preset direction. The second probe rod has a second contact surface abutting the trigger surface. The first contact surface or the second contact surface coincides with the second axis. The distance between the first contact surface and the second contact surface is equal to the thickness of the third trigger portion in the shape of a plate.

49. The cleaning apparatus of claim 48, wherein The first contact surface or the second contact surface is parallel to the horizontal plane, and the distance between the first contact surface and the second contact surface is the height difference between the first contact surface and the second contact surface.

50. The cleaning apparatus of claim 46, wherein When the driver drives the mounting bracket to rotate in a first direction so that the cleaning member rotates to an ascending state, the third trigger portion is located at a position corresponding to triggering one of the third trigger switches to generate a signal that the mounting bracket rotates to an extreme position in the first direction. When the driver drives the mounting bracket to rotate in a second direction so that the cleaning member rotates to a descending state, the second direction is opposite to the first direction, and the third trigger portion is located at a position corresponding to triggering another of the third trigger switches to generate a signal that the mounting bracket rotates to an extreme position in the second direction.

51. The cleaning apparatus of claim 46, wherein The limiting portion is provided at at least one end of the body assembly along the axial direction of the cleaning member, and the mounting frame has a limiting rib. When the third trigger portion is located at a position to trigger the third trigger switch, the limiting portion abuts against the corresponding limiting rib.

52. The cleaning apparatus of claim 51, wherein The body assembly is provided with the limiting parts at both ends along the axial direction of the cleaning member. The third trigger switch is located between the limiting parts at both ends along the axial direction of the cleaning member. The limiting part at each end abuts against the corresponding limiting rib.

53. The cleaning apparatus of claim 51, wherein The cleaning member is provided with the third trigger switch and the corresponding limiting portion on both opposite sides along a preset direction. The preset direction is arranged crosswise with the axial direction and the up and down direction of the cleaning member respectively, and the limiting portion on each side abuts against the corresponding limiting rib.

54. The cleaning device according to any one of claims 42 to 44, wherein: When the cleaning member is in a descending state, the first axis is located above the second axis, and the mounting frame at least partially covers the top of the cleaning member to prevent liquid on the cleaning member from splashing toward the fuselage component. When the cleaning member is in an ascending state, the first axis is located below the second axis, and the mounting frame is at least partially located below the cleaning member to collect liquid dripping downward from the cleaning member.

55. The cleaning device according to any one of claims 42 to 44, wherein The cleaning device also includes a sensor arranged on the body component, which is used to detect the material of the surface to be cleaned and generate a detection signal based on the material of the surface to be cleaned. The detection signal is used as a basis for controlling the driver to drive the mounting frame to drive the cleaning component to rise and fall.

56. The cleaning device according to any one of claims 42 to 44, wherein The cleaning device is a cleaning robot.

57. The cleaning device according to any one of claims 42 to 44, wherein: The cleaning member is a roller.

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